CN108189988A - Nuclear power station underwater foreign matter handling machine people - Google Patents
Nuclear power station underwater foreign matter handling machine people Download PDFInfo
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- CN108189988A CN108189988A CN201810005560.4A CN201810005560A CN108189988A CN 108189988 A CN108189988 A CN 108189988A CN 201810005560 A CN201810005560 A CN 201810005560A CN 108189988 A CN108189988 A CN 108189988A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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Abstract
The present invention relates to a kind of nuclear power station underwater foreign matter handling machine people, including propulsion system, camera system and the handling implement car body and setting on the car body.Propulsion system provides power and is moved under water by robot；Camera system obtains underwater image；Handling implement is used to carry out in-situ processing to underwater foreign matter.Robot passes through propulsion system, camera system and handling implement, it can allow robot is mobile under water to carry out submerged condition inspection, camera system can obtain underwater picture information and send staff to, submerged condition is grasped in time, staff is enable to have comprehensive understanding to underwater situation, handling implement can carry out in-situ processing to underwater foreign matter in time according to submerged condition, improve treatment effeciency, it also avoids staff and directly enters radiation environment, it is more safe.
Description
Technical field
The present invention relates to nuclear power field, more specifically to a kind of nuclear power station underwater foreign matter handling machine people.
Background technology
In the relevant technologies, generated risk is compared with traditional power station in nuclear power station operation, and mainly it is with radioactivity.
When emergency episode or anomalous event occurs in nuclear power station, the key factor for influencing people's process problem is typically radioactivity ring
Border.Therefore, meeting an urgent need robot using nuclear power can be to avoid the risk that human body is met with, while can complete under some state of emergency
Groundwork, so as to meet people to the accident treatment demand under radioactive anomaly environment.
Invention content
The technical problem to be solved in the present invention is, provide it is a kind of can be to nuclear power station that nuclear power station underwater foreign matter is handled in real time
Underwater foreign matter handling machine people.
The technical solution adopted by the present invention to solve the technical problems is：Construct a kind of nuclear power station underwater foreign matter handling machine
People, including the car body and propulsion system being arranged on the car body, camera system and handling implement；
The propulsion system, which provides power, allows the robot to move under water；
The camera system obtains underwater image；
The handling implement is used to carry out in-situ processing to underwater foreign matter.
Preferably, the propulsion system includes providing the propeller or nozzle of power that the robot moves under water.
Preferably, the propulsion system include for control that the robot moves in the horizontal direction at least one first
At least one second propeller that propeller and the control robot are moved in vertical direction.
Preferably, the robot, which further includes, provides the buoyancy system that buoyancy allows the robot to float under water.
Preferably, the buoyancy system is included for controlling the regulating mechanism of buoyancy of buoyancy size and for controlling
State the buoyancy levelling gear of stability when robot floats.
Preferably, the regulating mechanism of buoyancy includes buoyancy tube and the control for adjusting the water in the buoyancy tube
Valve processed；And/or
The regulating mechanism of buoyancy includes air bag and the control valve for adjusting the tolerance in the air bag.
Preferably, the buoyancy levelling gear includes attitude transducer and clump weight, and the attitude transducer is according to
The posture of robot sends the shift position that signal controls the clump weight.
Preferably, the robot further includes the running gear that the robot is allowed to walk in water-bed bottom surface, the walking
System includes pedestal and the crawler belt being arranged on the pedestal；
The camera system, which includes to swing up and down, is arranged on the car body front side, the proactive picture to obtain image information
Unit and can horizontally rotating is arranged on the upside of the car body, the rear camera unit to obtain image information, the proactive picture
Unit, rear camera unit respectively include headlamp.
Preferably, the handling implement includes one kind in manipulator, cutting milling tools, adsorption piece, the processing work
Tool is removably disposed, and the car body is equipped with the installation interface for the cutting milling tools, adsorption piece installation.
Preferably, the adsorption piece is dust catcher, and the motor of the dust catcher has the function of to rotate and reverse.
Preferably, the dust catcher carries filter screen, and the filter screen is also removably set.
Preferably, the manipulator includes sequentially connected first arm, the second arm, third arm and clamping part, and described the
One arm is rotatably arranged on the car body, and second arm is rotatably connect with first arm, and the third arm can turn
Dynamic ground is connect with second arm；
The clamping part include grip slipper and the first clamping limb, the second clamping limb, the grip slipper rotatably arranged with
On the third arm；
First clamping limb, the second clamping limb can be opened and closed to be arranged on the grip slipper.
Preferably, first clamping limb, the second clamping limb are rotatably arranged on the grip slipper, the grip slipper
It is equipped with telescopic drive rod；
Described first clamping limb one end is connect with the drive rod, and the other end is stretched out far from the grip slipper；Described second
Clamping limb one end is connect with the drive rod, and the other end is stretched out far from the grip slipper；
The drive rod drives first clamping limb, the rotation of the second clamping limb to realize folding when flexible.
Preferably, first clamping limb includes the first rotation seat and is removably mounted on first rotation seat
First clamp, the second folder that second clamping limb includes the second rotation seat and is removably mounted on second rotation seat
Body,
First rotation seat, the second rotation seat are rotatably arranged in respectively on the grip slipper, first clamp,
The grasping part of first clamping limb, the second clamping limb is formed between second clamp.
Implement the nuclear power station underwater foreign matter handling machine people of the present invention, have the advantages that：Robot passes through propulsion
System, camera system and handling implement can allow robot is mobile under water to carry out submerged condition inspection, and camera system can obtain
Water intaking hypograph information sends staff to, grasps submerged condition in time, staff is enable to have comprehensively underwater situation
Understand, handling implement can carry out in-situ processing to underwater foreign matter in time according to submerged condition, improve treatment effeciency, also avoid
Staff directly enters radiation environment, more safe.
Description of the drawings
Below in conjunction with accompanying drawings and embodiments, the invention will be further described, in attached drawing：
Fig. 1 is the side structure schematic diagram of the nuclear power station underwater foreign matter handling machine people in the embodiment of the present invention；
Fig. 2 is the trailing flank structure diagram of the nuclear power station underwater foreign matter handling machine people in Fig. 1；
Fig. 3 is the structure diagram of the manipulator in Fig. 1；
Fig. 4 is the enlarged diagram of the clamping part of the manipulator in Fig. 3；
Fig. 5 is the structural representation of the cutting milling tools of the nuclear power station underwater foreign matter handling machine people in the embodiment of the present invention
Figure；
Fig. 6 is the structure diagram of the adsorption piece of the nuclear power station underwater foreign matter handling machine people in the embodiment of the present invention.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
The specific embodiment of the present invention.
As shown in Figure 1 and Figure 2, the nuclear power station underwater foreign matter handling machine people 10 in a preferred embodiment of the invention includes
The car body 1 and propulsion system 2 being arranged on car body 1, camera system 3 and handling implement 4.
Propulsion system 2 provides power and is moved under water by robot 10；Camera system 3 obtains underwater image；
Handling implement 4 is used to carry out in-situ processing to underwater foreign matter.
Robot 10 by propulsion system 2, camera system 3 and handling implement 4, can allow robot 10 move under water into
Row submerged condition inspection, camera system 3 can obtain underwater picture information and send staff to, grasp submerged condition in time,
Staff is enable to have comprehensive understanding to underwater situation, handling implement 4 can according to submerged condition in time to underwater foreign matter into
Row in-situ processing, improves treatment effeciency, also avoids staff and directly enters radiation environment, more safe.
In the present embodiment, the appearance and size of car body 1 is 500 × 380 × 505mm, and weight≤40kg, speed continuously may be used
It adjusts, maximum speed is not less than 3m/min, and the maximum speed that snorkels is not less than 3m/min.Maximum working depth is not less than 30m, car body 1
As robot various functions apparatus carriers, the advance of driving robot, retrogressing and go to action.
In general, the control of robot 10 is wired control mode, it is alternatively wireless control mode certainly.The land of robot 10
Upper control system carries display, the image and sensor measurement data that real-time display robot uploads；The control of control system
Handle carries out manipulation control to the function of underwater robot.
Propulsion system 2 includes providing the propeller of power that robot 10 moves under water, and propeller rotational provides machine
The power that people 10 moves.
Further, in the present embodiment, propulsion system 2 is included for control that robot 10 moves in the horizontal direction four
Two the second propellers 22 that first propeller 21 and control robot 10 are moved in vertical direction.First propeller 21,
Two propellers 22 are symmetrical in the horizontal plane both with respect to center of gravity, centre of buoyancy, realize the dynamic balancing of robot in water.
The quantity of first propeller 21 is more, speed of the robot 10 when moving horizontally can be allowed to be promoted, the second spiral
The negligible amounts of paddle 22 can borrow the speed that buoyancy system 5 adjusts vertical direction movement together.That can control, robot 10 is flat
Under the premise of weighing apparatus, the first propeller 21, the second propeller 22 quantity be alternatively one or other more than one numbers
Amount.
In other embodiments, propulsion system 2 may also comprise nozzle, sprays gas outward by nozzle or liquid is generated to machine
The thrust of device people 10, band mobile robot 10 move under water, and the quantity of nozzle can be depending on power demand.
The direction of propeller, the direction of nozzle can be also adjusted, can provide simultaneously robot 10 in the horizontal direction and
The mobile power of vertical direction.
Robot 10, which further includes, provides the buoyancy system 5 that buoyancy floats under water by robot 10, and buoyancy system 5 can allow
Robot 10 floats underwater different depth position, meets the requirement for obtaining underwater information according to requiring to move up and down.
Further, buoyancy system 5 includes controlling the regulating mechanism of buoyancy 51 of buoyancy size and for control machine
The buoyancy levelling gear 52 of stability when device people 10 floats.When robot 10 need to only be run in water-bed bottom surface, can will also float
Power levelling gear 52 is cancelled.
In the present embodiment, regulating mechanism of buoyancy 51 includes buoyancy tube 511 and for adjusting the water in buoyancy tube 511
Control valve 512.When robot 10 needs to rise, control valve 512 can be controlled to extract the water in buoyancy tube 511 out, be promoted
Buoyancy allows robot 10 to be promoted；When robot 10 needs to decline, it can control control valve 512 that external water is extracted into buoyancy
In cylinder 511, increase the weight of robot 10, robot 10 is allowed to sink.
Buoyancy tube 511 is with nonmetallic acidproof base material processing floating drum, and density is low, easily molded, and intensity is high；It can bear 30m water
The deformation that is under pressure when deep is smaller.
It is to be appreciated that regulating mechanism of buoyancy 51 may also comprise air bag and the control valve for adjusting the tolerance in air bag
512, control valve 512 connects tracheae, tracheae and connection waterborne, by inflating or allowing the gas in air bag to discharge into air bag, reaches
To the effect for adjusting buoyancy.
Certainly, buoyancy tube 511 and air bag can also be set simultaneously.In addition, regulating mechanism of buoyancy 51 may be used also to the adjusting of buoyancy
To adapt to the aqueous medium of different densities in a certain range, it is ensured that the suspension of robot 10 will not change because of the variable density of water
Become, buoyancy of the increase robot when capturing big foreign matter, the adjustable range of regulating mechanism of buoyancy 41：0.5kg, adjustable range also may be used
It is adjusted according to application environment.
Further, buoyancy levelling gear 52 includes attitude transducer and clump weight, and attitude transducer is according to robot 10
Posture send signal control clump weight shift position.Attitude transducer can carry out pitching, rolling, yaw angular measurement, work as appearance
State sensor senses robot 10 and tilts when imbalance, and clump weight can be moved to high position, changes robot 10
Robot 10 is adjusted to normal laid-flat status by position of centre of gravity, ensures the balance of robot 10 in a certain range.
Buoyancy levelling gear 52 can be to change the position of centre of gravity of 10 axis direction of robot, in a certain range in minizone
The pitching of the statokinetic sensor of guarantee robot 10, rolling, yaw angle measurement range are：±85°；Measurement accuracy：≤±
0.1°。
In order to comprehensively obtain underwater image information, camera system 3 includes to swing up and down be arranged on car body 1 before
Side, to obtain the preceding camera unit 31 of image information and can horizontally rotating be arranged on 1 upside of car body, obtaining image
The rear camera unit 32 of information.
In general, the video camera of preceding camera unit 31 uses high definition CMOS cameras, multiplying power is 20 times, and minimal illumination is better than
0.2lux, frame frequency >=30fps.Preceding camera unit 31 can be swung in the range of positive and negative 90 ° in above-below direction initially towards front.
According to environment needs, the camera parameters of preceding camera unit 31 also can adjust.
The video camera of camera unit 32 uses high definition CMOS cameras afterwards, and multiplying power is 10 times, and minimal illumination is better than 0.2lux, frame
Frequently >=30fps.The video camera of camera unit 32 is initially towards front afterwards, can rotate in the range of positive and negative 150 ° in the horizontal direction.
According to environment needs, the parameter of the video camera of rear camera unit 32 also can adjust.
Preceding camera unit 31, rear camera unit 32 respectively include headlamp, and the position of capture is illuminated, and obtain clear figure
Picture, it is preferable that the brightness of headlamp can be adjusted.Preceding camera unit 31 can in real time be grasped in 10 traveling process of robot
The state of front avoids collision other sundries.Camera unit 32 then can get 1 border of car body from the top of car body 1 afterwards
Image, in real time grasp border ambient condition.
In some embodiments, robot 10 may also include the sensor-based system for obtaining underwater environment information, sensing system
System includes temperature sensor, pressure sensor, dose rate sensor.Temperature sensor can obtain underwater temperature in real time,
Pressure sensor can then obtain the hydraulic pressure pressure of 10 place depth of robot, and then obtain the depth information at place, and dosage rate passes
Sensor can then obtain underwater amount of radiation, and the measurement type of dose rate sensor includes gamma-rays and χ rays, may also comprise it
His ray.
In general, the temperature detection range of temperature sensor is：10 DEG C -60 DEG C, precision：±0.1℃.The survey of pressure sensor
Measure range：0-600KPa, precision：0.1%FS, depth survey range：0.2-50m, accuracy：± 10%FS；Dose of radiation is examined
The measurement type for surveying device is γ and χ rays, and range is less than or equal to 150mSv/h.
In other embodiments, temperature sensor, pressure sensor, dose of radiation detection device range also can be more than upper
State range.
Robot with sensor-based system is mainly used for the rapid reconnaissance of all kinds of pool environment states in nuclear power station, while complete
Into some simple object crawl functions, the operations such as underwater fixed depth observation, monitoring can be completed；Has underwater foreign matter disposing capacity；
Environment information acquisition can detect temperature, depth and dose of radiation etc..
Buoyancy system 5 and pressure sensor form the Closed Loop Control Unit to suspend, can realize the outstanding of designated depth position
It is floating.
According to needs are checked, sensor-based system can be also only included in temperature sensor, pressure sensor, dose rate sensor
One kind may also comprise the combination of various sensors, certainly, can also carry other sensors.
With reference to shown in Fig. 1, Fig. 3 to Fig. 6, further, handling implement 4 includes manipulator 41, cutting milling tools 42, inhales
One kind in attachment 43, handling implement 4 are removably disposed, and car body 1 is equipped with to be installed for cutting milling tools 42, adsorption piece 43
Installation interface.
Manipulator 41 is arranged on car body 1, for clamping article, can be according to the situation in reactor, telemanipulator
41 pick and place crawl article.
Manipulator 41 include sequentially connected first arm 411, the second arm 412, third arm 413 and clamping part 414, first
Arm 411 is rotatably arranged on car body 1, and the second arm 412 is rotatably connect with the first arm 411, third arm 413 rotationally with
Second arm 412 connects.Clamping part 414 includes 4141 and first clamping limb 4142 of grip slipper, the second clamping limb 4143, grip slipper
4141 are rotatably arranged on third arm 413.
It is each to close using rotation connection between car body 1, the first arm 411, the second arm 412, third arm 413, clamping part 414
Section realizes the adjusting of four degree of freedom using direct current generator as driving, and cooperation robot motion can realize multi-faceted gripping foreign matter,
It can be convenient for adjusting the steering position of clamping part 414, clamp the object of different location.
In general, 5 arm of manipulator opens up 800mm, width 100mm, most large arm exhibition gripping load 2Kg are gripped.First arm 411 to
When the front of car body 1 is stretched out, with respect to ranging from positive and negative 30 ° of 1 left-right rotation of car body, the second arm 412 phase on the first arm 411
Ranging from 45~210 ° are rotated upwardly and downwardly to horizontal plane；When the second arm 412 is in the turned position under most, third arm 413 is
Relative level rotates upwardly and downwardly ranging from 85~255 ° on two arms 412；When third arm 413 is in the turned position under most, folder
It holds the relative level on third arm 413 of seat 4141 and rotates upwardly and downwardly ranging from 20~350 °.
In other embodiments, as needed, the first arm 411, the second arm 412, third arm 413 and clamping part 414
Slewing area also can respective change.
First clamping limb 4142, the second clamping limb 4143 can be opened and closed to be arranged on grip slipper 4141, to be clamped.Folder
It is rotatable to hold seat 4141, the direction of clamping opening formed between the first clamping limb 4142, the second clamping limb 4143 can be adjusted, be convenient for
De-clamping.
Further, the first clamping limb 4142, the second clamping limb 4143 are rotatably arranged on grip slipper 4141, clamping
Seat 4141 is equipped with telescopic drive rod 4148.First clamping limb, 4142 one end is connect with drive rod 4148, and the other end is separate
Grip slipper 4141 stretches out；Second clamping limb, 4143 one end is connect with drive rod 4148, and the other end is stretched out far from grip slipper 4141.It drives
Lever 4148 drives the first clamping limb 4142, the rotation of the second clamping limb 4143 to realize folding when stretching.
In some embodiments, the first clamping limb 4142 includes the first rotation seat 4144 and is removably mounted on first turn
The first clamp 4145 on dynamic seat 4144, the second clamping limb 4143 include the second rotation seat 4146 and are removably mounted on second
The second clamp 4147 on rotation seat 4146.
First rotation seat 4144, the second rotation seat 4146 are rotatably arranged in respectively on grip slipper 4141, the first clamp
4145th, the grasping part of the first clamping limb 4142, the second clamping limb 4143 is formed between the second clamp 4147.First clamp
4145th, the second clamp 4147 detachable setting respectively, can be by the first clamp 4145, the when needing to clamp different objects
Two clamps 4147 are replaced with the clamping piece of different shapes or material, to adapt to the clamping demand of object.
First clamping limb 4142, the second clamping limb 4143, when capturing article, can be grabbed just as two fingers of people
It is more steady, moreover it is possible to adapt to the article of different size, shape.In the present embodiment, the first clamping limb 4142, the second clamping limb
4143 maximum open width is 100mm, and auxiliary completes grasping movement.
First clamping limb 4142,4143 two opposite sides of the second clamping limb are respectively equipped with broached-tooth design, can it is anti-skidding and
Promoted clamping when frictional force, convenient for clamp, grip weight is usually less than 2kg, also can according to environment adjust can grip most
Big weight.In other embodiments, other profits are may also set up on the opposite side of the first clamping limb 4142, the second clamping limb 4143
In the anti-skidding and promotion concaveconvex structure of frictional force or flexible glue part.
Certainly, clamping part 414 may also comprise other one or more clamping limbs, be pressed from both sides with the first clamping limb 4142, second
The folding together of gripping arm 4143, realizes the crawl to article.
In some embodiments, manipulator 41 also include the camera 415 that is set on third arm 413 and with camera shooting
First 415 distance detection devices 416 arranged side by side, distance detection device 416 include laser sensor.
Camera 415, distance detection device 416 are arranged on one end that third arm 413 is connect with grip slipper 4141, allow camera shooting
First 415 can obtain 41 front end environment image of manipulator in real time, convenient for adjusting the stretching shape of manipulator 41 according to ambient image
State and extended position.Distance detection device 416 can observe object with the distance between inspecting manipuator 41 and article to be captured
Two-dimensional adjusts the state of manipulator 41.
Preferably, shape between camera 415,416 and first clamping limb 4142 of distance detection device, the second clamping limb 4143
Into grasping part position correspond to, the image of article to be captured and the first clamping limb 4142, second can accurately be obtained
The distance between clamping limb 4143 and article to be captured.
In other embodiments, camera 415, distance detection device 416 may also be arranged on grip slipper 4141.
In general, camera 415, also using high definition CMOS cameras, multiplying power is 10 times, minimal illumination is better than 0.2lux, frame frequency >=
30fps.According to environment needs, the parameter of camera 55 also can adjust.
The underwater picture that robot 10 can be obtained by camera system 3, control machinery hand 41, are inhaled cutting milling tools 42
43 grade handling implements 4 of attachment make corresponding processing action.The nuclear power station underwater foreign matter handling machine people of tape handling tool is main
For in all kinds of pool environments of nuclear power station, carrying out the operations such as video check and foreign matter salvaging, mainly there are following functions：
Undersea surveillance operation；Fishing underwater foreign matters operation；Underwater dust suction operation；Underwater simple cutting polishing operation.
Cutting milling tools 42, adsorption piece 43 etc. can be in advance installed on the installation interface of car body 1, cut milling tools
42nd, adsorption piece 43
Cutting milling tools 42 carries attachment, such as adapter 421, saw blade, grinding disc 422, die nut, Portable box are matched
Part, saw blade, grinding disc 422 can be respectively installed on adapter 421, cut the cutting of milling tools 42, polishing passes through adapter
421 connections completed between grinding disc 422 and saw blade are converted, simple and fast.
Cutting milling tools 42 is plug-in device, when in use, need to be fixed on universal machine interface, is controlled
Line is independently accessed in control cabinet.Nuclear power station underwater foreign matter handling machine people can be cut and polished in high dose region；Separately
Outside, the also included monitoring system of cutting milling tools, when fructufy after polishing cutting, are observed.
Adsorption piece 43 is dust catcher, mainly for foreign matters such as unqualified shape such as glass, paint or more tiny screw nuts
It is equipped with the suction nozzle of plurality of specifications, caliber 10mm to 30mm etc..Two kinds of adsorption pieces 43 are equipped in this equipment：It is a kind of small-sized
Dust catcher, it is a kind of can rotating large-scale dust catcher.
Body interior is directly walked in Small-sized suction cleaner control, and rotating large size dust catcher need to be plug-in, and control line is individually drawn.
Preferably, large-scale dust catcher and Small-sized suction cleaner can share a mechanical mounting interface.
The motor of dust catcher has the function of to rotate and reverse, in addition, can also carry filter screen, the aperture of filter screen is
100um, filter screen are also removably set, and replace the filter screen of different pore size.
Again as shown in Figure 1 and Figure 2, in some embodiments, robot 10, which further includes, allows robot 10 to walk in water-bed bottom surface
Running gear 6, running gear 6 includes pedestal 61 and the crawler belt 62 that is arranged on pedestal 61.Crawler belt 62 and pedestal 61 are equipment
There is provided power when bottom of pond works, while 62 formula motion module of crawler belt is robot 10 when bottom of pond carries out cutting polishing operation,
Reliable and stable platform is provided for robot 10.
Robot 10 utilizes submerged condition inspection and the combination of underwater foreign matter processing function, can complete under radioactivity water quality
Foreign matter salvage ambient condition inspection under processing and case of emergency, while the based process work under some accident conditions can be completed
Make.
Robot further includes the communication module carried out data transmission with outside, in camera system 3, sensor-based system, monitoring system
It after system obtains information, can transmit wirelessly, be passed for example, sending the image information obtained, humiture information, pressure outward in real time
Sensor, radiation dose information, attitude transducer and obstacle distance information etc. certainly, are also subjected to what outside sended over
Information controls the component of robot, performs relevant operation.
The innovative point of the application：
For nuclear power station underwater environment design robot, can be well matched with work on the spot interface；
It can complete a variety of foreign matter processing functions under underwater high radiation environment；
It can monitoring temperature and radiation dose rate under water；
The underwater foreign matter treatment technology that nuclear power accumulates for many years is rolled into one, foreign matter processing work in most cases can be handled
Make；
It is flexibly convenient to stablize, and underwater State can be monitored in real time.
It is to be appreciated that above-mentioned each technical characteristic can be used in any combination and unrestricted.
The foregoing is merely the embodiment of the present invention, are not intended to limit the scope of the invention, every to utilize this hair
The equivalent structure or equivalent flow shift that bright specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field, is included within the scope of the present invention.
Claims (14)
1. a kind of nuclear power station underwater foreign matter handling machine people, which is characterized in that including car body（1）And it is arranged on the car body
（1）On propulsion system（2）, camera system（3）And handling implement（4）；
The propulsion system（2）Power is provided by robot（10）It moves under water；
The camera system（3）Underwater image is obtained；
The handling implement（4）For carrying out in-situ processing to underwater foreign matter.
2. nuclear power station underwater foreign matter handling machine people according to claim 1, which is characterized in that the propulsion system（2）
Including providing the robot（10）The propeller or nozzle of the power moved under water.
3. nuclear power station underwater foreign matter handling machine people according to claim 2, which is characterized in that the propulsion system（2）
Including being used to control the robot（10）At least one first propeller moved in the horizontal direction（21）And described in control
Robot（10）In at least one second propeller of vertical direction movement（22）.
4. nuclear power station underwater foreign matter handling machine people according to claim 1, which is characterized in that the robot（10）Also
The robot is allowed including providing buoyancy（10）The buoyancy system floated under water（5）.
5. nuclear power station underwater foreign matter handling machine people according to claim 4, which is characterized in that the buoyancy system（5）
Regulating mechanism of buoyancy including being used to control buoyancy size（51）And for controlling the robot（10）Stabilization during floating
The buoyancy levelling gear of property（52）.
6. nuclear power station underwater foreign matter handling machine people according to claim 5, which is characterized in that the regulating mechanism of buoyancy
（51）Including buoyancy tube（511）And for adjusting the buoyancy tube（511）The control valve of interior water（512）；And/or
The regulating mechanism of buoyancy（51）Control valve including air bag and for adjusting the tolerance in the air bag（512）.
7. nuclear power station underwater foreign matter handling machine people according to claim 5, which is characterized in that the buoyancy levelling gear
（52）Including attitude transducer and clump weight, the attitude transducer is according to the robot（10）Posture send signal control
The shift position of the clump weight.
8. nuclear power station underwater foreign matter handling machine people according to claim 1, which is characterized in that the robot（10）Also
Including allowing the robot（10）In the running gear of water-bed bottom surface walking（6）, the running gear（6）Including pedestal（61）With
It is arranged on the pedestal（61）On crawler belt（62）；
The camera system（3）The car body is arranged on including that can swing up and down（1）Front side, obtaining the proactive of image information
As unit（31）And it can horizontally rotate and be arranged on the car body（1）Upside, the rear camera unit to obtain image information
（32）, the preceding camera unit（31）, rear camera unit（32）Respectively include headlamp.
9. according to claim 1 to 8 any one of them nuclear power station underwater foreign matter handling machine people, which is characterized in that the place
Science and engineering has（4）Including manipulator（41）, cutting milling tools（42）, adsorption piece（43）In one kind, the handling implement（4）It can
It releasably sets, the car body（1）It is equipped with and supplies the cutting milling tools（42）, adsorption piece（43）The installation interface of installation.
10. nuclear power station underwater foreign matter handling machine people according to claim 9, which is characterized in that the adsorption piece（43）
For dust catcher, the motor of the dust catcher has the function of to rotate and reverse.
11. nuclear power station underwater foreign matter handling machine people according to claim 10, which is characterized in that the dust catcher carries
Filter screen, the filter screen are also removably set.
12. nuclear power station underwater foreign matter handling machine people according to claim 9, which is characterized in that
The manipulator（41）Including sequentially connected first arm（411）, the second arm（412）, third arm（413）And clamping part
（414）, first arm（411）It is rotatably arranged in the car body（1）On, second arm（412）Rotatably with it is described
First arm（411）Connection, the third arm（413）Rotationally with second arm（412）Connection；
The clamping part（414）Including grip slipper（4141）And first clamping limb（4142）, the second clamping limb（4143）, it is described
Grip slipper（4141）It is rotatably arranged in the third arm（413）On；
First clamping limb（4142）, the second clamping limb（4143）It can be opened and closed to be arranged on the grip slipper（4141) on.
13. nuclear power station underwater foreign matter handling machine people according to claim 12, which is characterized in that first clamping limb
（4142）, the second clamping limb（4143）It is rotatably arranged in the grip slipper（4141）On, the grip slipper（4141）On set
There is telescopic drive rod（4148）；
First clamping limb（4142）One end and the drive rod（4148）Connection, the other end is far from the grip slipper（4141）
It stretches out；Second clamping limb（4143）One end and the drive rod（4148）Connection, the other end is far from the grip slipper
（4141）It stretches out；
The drive rod（4148）First clamping limb is driven when flexible（4142）, the second clamping limb（4143）Rotation is realized and is opened
It closes.
14. nuclear power station underwater foreign matter handling machine people according to claim 13, which is characterized in that first clamping limb
（4142）Including the first rotation seat（4144）Be removably mounted on first rotation seat（4144）On the first clamp
（4145）, second clamping limb（4143）Including the second rotation seat（4146）Be removably mounted on second rotation seat
（4146）On the second clamp（4147）,
First rotation seat（4144）, the second rotation seat（4146）It is rotatably arranged in the grip slipper respectively（4141）
On, first clamp（4145）, the second clamp（4147）Between form first clamping limb（4142）, the second clamping limb
（4143）Grasping part.
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| CN201810005560.4A CN108189988A (en) | 2018-01-03 | 2018-01-03 | Nuclear power station underwater foreign matter handling machine people |
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