CN108263573A - A kind of nuclear power plant's sucked type float assembly - Google Patents
A kind of nuclear power plant's sucked type float assembly Download PDFInfo
- Publication number
- CN108263573A CN108263573A CN201611262602.XA CN201611262602A CN108263573A CN 108263573 A CN108263573 A CN 108263573A CN 201611262602 A CN201611262602 A CN 201611262602A CN 108263573 A CN108263573 A CN 108263573A
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- Prior art keywords
- float assembly
- mainframe
- nuclear power
- power plant
- cylinder
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Links
- 238000013519 translation Methods 0.000 claims abstract description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000007667 floating Methods 0.000 claims description 8
- 230000007935 neutral effect Effects 0.000 claims description 5
- 239000003463 adsorbent Substances 0.000 abstract description 2
- 239000002915 spent fuel radioactive waste Substances 0.000 abstract description 2
- 230000006641 stabilisation Effects 0.000 abstract description 2
- 238000011105 stabilization Methods 0.000 abstract description 2
- 230000007659 motor function Effects 0.000 abstract 1
- 241000252254 Catostomidae Species 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000005511 kinetic theory Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000009364 mariculture Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
Classifications
-
- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The present invention is a kind of nuclear power plant's sucked type float assembly, is related to underwater robot art field.The present invention includes cylinder, universal ball bearing and sucker, and when float assembly againsts chamber wall progress translational motion, cylinder stretches out, and than sucker more posteriorly, float assembly againsts chamber wall translation for the position of universal ball bearing；Float assembly in place after, cylinder shrink, sucker than universal ball bearing position more posteriorly, sucker is firmly adsorbed on chamber wall.The present invention can realize that underwater ascent, dive, advance, retrogressing, left and right such as translates, are horizontally diverted at the three dimensionalities motor function, have an adsorbent equipment, and when work can be adsorbed on wall, ensure the stabilization of pedestal, carry mechanical arm and can complete foreign matter and the work such as salvage, repair.The present invention is a kind of underwater robot dedicated for nuclear power plant, is mainly used for video check, foreign matter salvaging, repair of nuclear power plant's pressure vessel, refuelling pool, Spent Fuel Pool etc. etc..
Description
Technical field
The present invention relates to underwater robot art fields, and in particular to a kind of nuclear power plant's sucked type float assembly.
Background technology
As nuclear power plant's run time increases, in-pile component, pressure vessel inner surface, the reloading trolley of pressurized water type reactor
Inner wall is it is possible that some problems need to implement to check and repair.Because these positions are in intense radiation area, during shutdown inside fill
Full water, personnel are can not to be directly entered the region to work.The different tool of underwater robot carrying must be developed and complete this
A little work.
Underwater robot is that one kind can move, have vision and sensory perceptual system, by remote control or autonomous operation side under water
Formula, and manipulator or other tools can be used to replace or assist people to go to complete the device of underwater operation task.Underwater robot skill
Art is collection kinematics and kinetic theory, machine design and manufacture technology, computer hardware and software technology, control theory, electricity
Dynamic servo servo technology, sensor technology, artificial intelligence theory, placement technology, sealing technique and airmanship are integrated
Complex art.At present, underwater robot is mainly used for marine field, as oil exploitation, the investigation of seabed mineral reserve, salvage operation,
Pipeline laying and inspection, cable laying and inspection, mariculture etc..It is administered in rivers and lakes, city water channel and nuclear industry is led
Also there is certain application in domain.But the volume and weight of this kind of underwater robot is all very big, and price is also more expensive, encounters equipment event
Barrier, maintenance cost are very big.Meanwhile this kind of underwater robot does not do radiation protection processing, the work characteristics and ocean operation of nuclear power station
It is very different, therefore nuclear power station cannot be directly applied to.
Invention content
The present invention provides a kind of nuclear power plant's sucked type float assembly, is a kind of underwater robot dedicated for nuclear power plant,
It is mainly used for video check, foreign matter salvaging, repair of nuclear power plant's pressure vessel, refuelling pool, Spent Fuel Pool etc. etc..
The technical scheme is that：
A kind of nuclear power plant's sucked type float assembly, including mainframe, front camera, floating block, propeller, sucker, postposition
Camera, cylinder, universal ball bearing；
Mainframe generally hollow cube frame structure, floating block are fixedly mounted on mainframe, make float assembly in water
In be neutral buoyancy；
Two groups of propellers are installed on mainframe, one group of propeller control float assembly vertical direction movement, it is another
Group propeller control float assembly movement in the horizontal direction；
Front camera is fixedly mounted on mainframe front, and rear camera is fixedly mounted on the mainframe back side；
Sucker is fixedly mounted on the mainframe back side, can adsorb and fix float assembly on the wall；
Cylinder and universal ball bearing occur in groups, and the cylinder body of cylinder is fixedly mounted on the back side of mainframe, the piston of cylinder
Bar is fixedly connected with universal ball bearing；When cylinder stretches out, than sucker more posteriorly, float assembly can paste for the position of universal ball bearing
Chamber wall translation；Cylinder shrink when, sucker than universal ball bearing position more posteriorly, sucker can be firmly adsorbed on container
On wall.
Further include lower bearing bracket, mechanical arm；
Lower bearing bracket is fixedly connected with mainframe, and the pedestal of mechanical arm is fixedly connected with the front of lower bearing bracket, is zero in water
Buoyant state.
Two groups of propellers, every group includes four propellers, is symmetrically and fixedly mounted on mainframe.
The front camera is the camera with two-degree-of-freedom cradle head.
The front camera and the equal automatic light source of rear camera.
There are four the sucker is common, it is symmetrically and fixedly mounted on mainframe.
The cylinder and universal ball bearing share four groups, are symmetrically and fixedly mounted on mainframe.
Beneficial effects of the present invention are：
The present invention can realize that underwater ascent, dive, advance, retrogressing, left and right the three dimensionalities such as translates, are horizontally diverted and moving work(
Can, have an adsorbent equipment, when work, can be adsorbed on wall, ensure the stabilization of pedestal, carry mechanical arm can complete foreign matter salvage, dimension
The work such as repair.
Float assembly of the present invention employs advanced float assembly translation and fixed form.Float assembly can against
Chamber wall carries out stable translational motion, and cylinder stretches out during translation, and four universal ball bearings are bonded with chamber wall, by with pushing away
Coordinate into device, float assembly can be translated smoothly on the wall.Float assembly in place after, cylinder shrink, four sucker energy
It is firmly adsorbed on chamber wall, float assembly can smoothly provide support when at this moment mechanical arm works.
Description of the drawings
Fig. 1 is the front view of the present invention.
Fig. 2 is the side view of the present invention.
Fig. 3 is the rearview of the present invention.
Fig. 4 is positive stereoscopic diagram of the present invention.
Fig. 5 is back three-dimensional diagram of the present invention.
In figure, 1- mainframes, 2- front cameras, 3- floating blocks, 4- lower bearing brackets, 5- mechanical arms, 6- propellers, 7- suckers,
8- rear cameras, 9- cylinders, the universal ball bearings of 10-,
Specific embodiment
The present invention is described further with reference to the accompanying drawings and examples.
The design core of the present invention is advanced float assembly translation and fixed form.Float assembly energy of the present invention
It enough againsts chamber wall and carries out stable translational motion, cylinder 9 stretches out during translation, and the position of four universal ball bearings 10 is than sucker 7
More posteriorly, float assembly entire in this way can against chamber wall translation, and mobile stability ratio is applied alone propeller 6 more preferable；It is floating
Swim device in place after, cylinder 9 is shunk, four suckers 7 than universal ball bearing 10 position more posteriorly, sucker 7 can be inhaled securely
It is attached on the wall.When being worked due to the mechanical arm 5 on float assembly, the center of gravity of float assembly can change, and be sometimes difficult to
It is adjusted by propeller 6, the present invention is adsorbed using four suckers 7 on the chamber wall of working region, can realize fixation
Securely.
As shown in Figures 1 to 5, the present invention is a kind of nuclear power plant's sucked type float assembly, including mainframe 1, preposition camera shooting
First 2, floating block 3, lower bearing bracket 4, mechanical arm 5, propeller 6, sucker 7, rear camera 8, cylinder 9, universal ball bearing 10.
The generally hollow cube frame structure of mainframe 1 is the installation foundation part of float assembly of the present invention,
Floating block 3 is mounted on the top of mainframe 1, and is secured to connect, and for balancing the underwater weight of entire float assembly, makes to float
It is neutral buoyancy in water to swim device.
Lower bearing bracket 4 is fixedly connected with mainframe 1, and the pedestal of mechanical arm 5 is fixedly connected with the front of lower bearing bracket 4, lower bearing bracket 4
Robot assemblies are formed with mechanical arm 5, are neutral buoyancy state under water as the attachment of float assembly.
Two groups of propellers 6 are installed on mainframe 1.One group controls float assembly in vertical direction for four propellers 6
Movement, is symmetrically and fixedly mounted on mainframe 1, moves up and down for float assembly, underwater pose adjustment.Another group pushes away for four
Float assembly movement in the horizontal direction is controlled into device 6, is symmetrically and fixedly mounted on mainframe 1, for float assembly level side
Forwards, backwards, left and right and rotary motion.
Front camera 2 is the camera with two-degree-of-freedom cradle head, is fixedly mounted on 1 front of mainframe, and with light source, use
It is observed in forepart, is also used for the work monitoring of mechanical arm 5.Rear camera 8 is fixedly mounted on 1 back side of mainframe, and band light source is used for
It observes at rear portion.
There are four sucker 7 is common, it is symmetrically and fixedly mounted to 1 back side of mainframe.When mechanical arm 5 works, the weight of float assembly
The heart can change, and be sometimes difficult to be adjusted by propeller 6, and four suckers 7 are adsorbed the appearance in working region by the present invention
On wall so that float assembly fixation.
Cylinder 9 and universal ball bearing 10 share four groups, and the cylinder body of cylinder 9 is symmetrically and fixedly mounted to the back side of mainframe 1, gas
The piston rod of cylinder 9 is fixedly connected with universal ball bearing 10.When cylinder 9 stretches out, the position of four universal ball bearings 10 is than sucker 7 more
Rearward, entire float assembly can against chamber wall translation, and mobile stability ratio is applied alone propeller 6 more preferable；Float assembly
After in place, cylinder 9 is shunk, four suckers 7 than universal ball bearing 10 position more posteriorly, sucker 7 can be firmly adsorbed on appearance
On wall.
During work, float assembly of the present invention into the water, by controlling eight propellers 6 that float assembly is controlled to transport
It moves to working region, situation before and after front camera 2 and the observation float assembly of rear camera 8 can be passed through by transporting fortune process.It will
Cylinder 9 stretches out, and than sucker 7 more posteriorly, float assembly entire in this way can against container for the position of four universal ball bearings 10
Wall translates.Float assembly in place after, cylinder 9 is shunk, four suckers 7 than universal ball bearing 10 position more posteriorly, sucker 7 can be with
Sucker on chamber wall, such float assembly just can fixation, at this time mechanical arm 5 can go to perform operation.
The embodiment of the present invention is explained in detail above, the above embodiment is only most highly preferred embodiment of the invention,
It, within the knowledge of a person skilled in the art, can also be but the present invention is not limited to above-described embodiment
It is made a variety of changes under the premise of not departing from present inventive concept.
Claims (7)
1. a kind of nuclear power plant's sucked type float assembly, it is characterised in that：Including mainframe (1), front camera (2), floating block
(3), propeller (6), sucker (7), rear camera (8), cylinder (9), universal ball bearing (10)；
Mainframe (1) generally hollow cube frame structure, floating block (3) are fixedly mounted on mainframe (1), make float assembly
It is neutral buoyancy in water；
Two groups of propellers (6) are installed on mainframe (1), one group of propeller (6) controls movement of the float assembly in vertical direction,
Another group of propeller (6) controls float assembly movement in the horizontal direction；
Front camera (2) is fixedly mounted on mainframe (1) front, and rear camera (8) is fixedly mounted on mainframe (1) back of the body
Face；
Sucker (7) is fixedly mounted on mainframe (1) back side, can adsorb and fix float assembly on the wall；
Cylinder (9) and universal ball bearing (10) occur in groups, and the cylinder body of cylinder (9) is fixedly mounted on the back side of mainframe (1), gas
The piston rod of cylinder (9) is fixedly connected with universal ball bearing (10)；When cylinder (9) stretches out, the position of universal ball bearing (10) is than inhaling
More posteriorly, float assembly can against chamber wall translation to disk (7)；When cylinder (9) is shunk, sucker (7) is than universal ball bearing (10)
Position more posteriorly, sucker (7) can be firmly adsorbed on chamber wall.
2. a kind of nuclear power plant's sucked type float assembly as described in claim 1, it is characterised in that：Further include lower bearing bracket (4), machine
Tool arm (5)；
Lower bearing bracket (4) is fixedly connected with mainframe (1), and the pedestal of mechanical arm (5) is fixedly connected with the front of lower bearing bracket (4),
It is neutral buoyancy state in water.
3. a kind of nuclear power plant's sucked type float assembly as described in claim 1, it is characterised in that：Two groups of propellers (6),
Every group includes four propellers (6), is symmetrically and fixedly mounted on mainframe (1).
4. a kind of nuclear power plant's sucked type float assembly as described in claim 1, it is characterised in that：The front camera (2)
For the camera with two-degree-of-freedom cradle head.
5. a kind of nuclear power plant's sucked type float assembly as described in claim 1, it is characterised in that：The front camera (2)
With rear camera (8) equal automatic light source.
6. a kind of nuclear power plant's sucked type float assembly as described in claim 1, it is characterised in that：The sucker (7) shares four
It is a, it is symmetrically and fixedly mounted on mainframe (1).
7. a kind of nuclear power plant's sucked type float assembly as described in claim 1, it is characterised in that：The cylinder (9) and universal
Ball bearing (10) shares four groups, is symmetrically and fixedly mounted on mainframe (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262602.XA CN108263573A (en) | 2016-12-30 | 2016-12-30 | A kind of nuclear power plant's sucked type float assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262602.XA CN108263573A (en) | 2016-12-30 | 2016-12-30 | A kind of nuclear power plant's sucked type float assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108263573A true CN108263573A (en) | 2018-07-10 |
Family
ID=62755243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611262602.XA Pending CN108263573A (en) | 2016-12-30 | 2016-12-30 | A kind of nuclear power plant's sucked type float assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108263573A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111105887A (en) * | 2019-12-30 | 2020-05-05 | 核动力运行研究所 | Nuclear power plant loop and pool combined type floating block device |
| CN112478010A (en) * | 2020-10-30 | 2021-03-12 | 浙江大学 | Underwater cruising and wall-climbing dual-mode robot |
| CN116062129A (en) * | 2021-11-04 | 2023-05-05 | 中核武汉核电运行技术股份有限公司 | Be suitable for nuclear power plant spent fuel pond inspection underwater planktonic and wall climbing's robot |
| CN116812116A (en) * | 2023-08-30 | 2023-09-29 | 广东智能无人系统研究院(南沙) | Underwater structure cleaning and detecting operation robot |
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2016
- 2016-12-30 CN CN201611262602.XA patent/CN108263573A/en active Pending
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| CN1434221A (en) * | 2003-03-14 | 2003-08-06 | 南开大学 | Vacuum adsorber capable of arbitrarily fixing rotot position |
| CN102951275A (en) * | 2012-11-08 | 2013-03-06 | 北京航空航天大学 | Microminiature operation underwater robot of nuclear power plant |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111105887A (en) * | 2019-12-30 | 2020-05-05 | 核动力运行研究所 | Nuclear power plant loop and pool combined type floating block device |
| CN112478010A (en) * | 2020-10-30 | 2021-03-12 | 浙江大学 | Underwater cruising and wall-climbing dual-mode robot |
| CN112478010B (en) * | 2020-10-30 | 2022-07-05 | 浙江大学 | Underwater cruising and wall-climbing dual-mode robot |
| CN116062129A (en) * | 2021-11-04 | 2023-05-05 | 中核武汉核电运行技术股份有限公司 | Be suitable for nuclear power plant spent fuel pond inspection underwater planktonic and wall climbing's robot |
| CN116812116A (en) * | 2023-08-30 | 2023-09-29 | 广东智能无人系统研究院(南沙) | Underwater structure cleaning and detecting operation robot |
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Application publication date: 20180710 |