CN108891564B - Radiation-resistant underwater operation robot - Google Patents

Abstract

The invention discloses a radiation-resistant underwater operation robot, comprising an underwater vehicle, the underwater vehicle is connected with a water surface auxiliary support device that can float on the water surface through a hydraulic pipeline and an air pipe, and the air pipe passes through the water surface auxiliary support device and is connected to the water surface auxiliary support device. The air pump is connected; the air pump is connected with the control end; the surface auxiliary support equipment can drive the underwater vehicle to run. The invention minimizes the existence of the electronic part under water, so that the survivability of the equipment in the strong radiation area is greatly improved; the invention adopts the pneumatic and hydraulic hybrid control drive unit, when in use, when the external mechanical equipment is installed Arms or other devices can be driven without relying on electronic devices.

Description

Radiation-resistant underwater robot

technical field

The invention belongs to the technical field of special robots, in particular to a radiation-resistant underwater working robot.

Background technique

There is a relatively high level of radioactivity in the nuclear reactor pool, spent fuel pool and other pools where radioactive substances are stored. During the inspection of underwater conditions and underwater operations under normal and accident conditions, the operating equipment is constantly exposed to radiation, which will cause The electronic part of the operation equipment is abnormal or even failed. In the case of a nuclear accident, extremely high radioactivity may occur at the operation site, and the operation equipment may fail rapidly and cannot complete the required work.

At present, there are only limited equipment available in the market. These equipments are mostly shielded by electronics, the control part is moved outside the water surface, and the underwater part only retains the relatively radiation-resistant parts of the motor, etc., but all of them inevitably have electronic components. Exist, still affected by the radiation environment.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a radiation-resistant underwater operation robot, which solves the problem of poor radiation-resistant capability in existing operation equipment with a large number of electronic devices.

The technical solution adopted in the present invention is that the radiation-resistant underwater operation robot includes an underwater vehicle, and the underwater vehicle is connected with a water surface auxiliary support device that can float on the water surface through a hydraulic pipeline and an air pipe, and the air pipe passes through the water surface to assist The support equipment is connected with the air pump; the air pump is connected with the control terminal; the surface auxiliary support equipment can drive the underwater vehicle to run;

The water surface auxiliary support equipment includes a floating body, and a hydraulic system is arranged in the floating body; the hydraulic system includes a horizontally arranged electric motor, the output shaft of the electric motor is connected with the ball screw, the screw nut of the ball screw is connected with the connecting rod, and the connecting rod is connected with the piston of the hydraulic oil pump , The fixed end of the hydraulic oil pump is connected to the hydraulic pipeline; the motor is connected to the control end.

The underwater vehicle includes a set of rectangular pressure-resistant shells with opposite sides in the shape of 1/2 arc, and the four sides of the pressure-resistant shell are provided with exhaust holes a; the hydraulic pipeline passes through the pressure-resistant shell and is provided with It is connected to the fixed end of the hydraulic cylinder in the pressure-resistant shell; a gas distributor parallel to it is arranged beside the hydraulic cylinder, an air storage cavity is arranged under the gas distributor, and an exhaust hole b is opened on the lower surface of the air storage cavity; the hydraulic cylinder piston The free end of the rod is connected to the vertical gas distributor sliding rod, and one end of the gas distributor sliding rod is connected to the gas distributor sliding plate; the gas distributor sliding blade can close or open the gas distributor sliding rod with the action of the gas distributor sliding rod. Gas distribution hole; the gas pipe is connected to one end of the main pipe through the pressure-resistant shell, and the other end of the main pipe is connected to one end of the gas distributor; one hole in the gas distribution hole is connected to the gas storage chamber through a pipeline, and the other holes in the gas distribution hole are connected to the gas distribution hole through a branch pipe. The exhaust duct communicates; the exhaust duct communicates with the exhaust hole.

A protective bracket is connected to the lower surface of the pressure shell, and the air storage cavity is located inside the protective bracket.

There are two hydraulic pipelines; two sets of hydraulic systems; two hydraulic cylinders; three gas distributors; each hydraulic pipeline drives one hydraulic cylinder through a set of hydraulic systems.

At least one end of the gas distributor sliding rod is connected to the gas distributor sliding plate.

The beneficial effects of the present invention are:

The radiation-resistant underwater operation robot platform of the invention minimizes the existence of the electronic part under water, so that the survivability of the equipment in the strong radiation area is greatly improved; the invention adopts a pneumatic and hydraulic hybrid control drive unit, and When in use, when a mechanical arm or other equipment is installed externally, it can be driven without relying on electronic equipment. On the whole, compared with the traditional equipment, the present invention greatly improves the radiation resistance, greatly enhances the reliability of the operation under the radiation environment, and the equipment has low construction cost and is easy to construct and produce.

Description of drawings

Fig. 1 is the structural representation of the radiation-resistant underwater working robot of the present invention;

Fig. 2 is the structural schematic diagram of the water surface auxiliary support equipment in the radiation-resistant underwater working robot of the present invention;

Fig. 3 is the external structure schematic diagram of the underwater vehicle in the radiation-resistant underwater working robot of the present invention;

4 is a schematic diagram of the internal structure of the underwater vehicle in the radiation-resistant underwater working robot of the present invention;

FIG. 5 is a schematic diagram of the internal structure of the underwater vehicle in the radiation-resistant underwater working robot of the present invention.

In the figure, 1. Underwater vehicle, 2. Hydraulic pipeline, 3. Air pipe, 4. Surface auxiliary support equipment, 5. Floating body, 6. Electric motor, 7. Connecting rod, 8. Hydraulic oil pump, 9. Pressure resistant shell , 10. Exhaust hole a, 11. Hydraulic cylinder, 12. Gas distributor, 13. Air storage chamber, 14. Exhaust hole b, 15. Gas distributor slide bar, 16. Gas distributor slide, 17. Gas distribution hole, 18. Main pipe, 19. Branch pipe, 20. Exhaust pipe, 21. Protective bracket, 22. Support piece.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The radiation-resistant underwater working robot of the present invention includes an underwater vehicle 1, and the underwater vehicle 1 is connected with a water surface auxiliary support device 4 that can float on the water surface through a hydraulic pipeline 2 and a gas pipe 3, and the gas pipe 3 passes through the water surface for auxiliary support The equipment 4 is connected with the air pump; the air pump is connected with the control end; the surface auxiliary support equipment 4 can drive the underwater vehicle 1 to run;

The water surface auxiliary support equipment 4 includes a floating body 5, and a hydraulic system is arranged in the floating body 5; the hydraulic system includes a horizontally arranged electric motor 6, the output shaft of the electric motor 6 is connected with a ball screw, and the screw nut of the ball screw is connected with the connecting rod 7, and the connection The rod 7 is connected to the piston of the hydraulic oil pump 8, and the fixed end of the hydraulic oil pump 8 is connected to the hydraulic pipeline 2; the electric motor 6 is connected to the control end.

further:

The underwater vehicle 1 includes a set of rectangular pressure-resistant shells 9 with opposite sides of which are 1/2 arc-shaped, and the four sides of the pressure-resistant shell 9 are provided with exhaust holes a10; The pressure shell 9 is connected with the fixed end of the hydraulic cylinder 11 arranged in the pressure-resistant shell 9; the hydraulic cylinder 11 is provided with a gas distributor 12 parallel to it, and a gas storage chamber 13 is arranged below the gas distributor 12, and the gas storage chamber 13 The lower surface is provided with an exhaust hole b14; the free end of the piston rod of the hydraulic cylinder 11 is connected to the gas distributor sliding rod 15 perpendicular to it, and one end of the gas distributor sliding rod 15 is connected to the gas distributor sliding vane 16; The gas distribution hole 17 on the gas distributor 12 can be closed or opened by the action of the gas distributor sliding rod 15; the gas pipe 3 is connected to one end of the main pipe 18 through the pressure shell 9, and the other end of the main pipe 18 is connected to one end of the gas distributor 12; One hole in the gas distribution hole 17 is connected to the gas storage chamber 13 through a pipeline, and the other holes in the gas distribution hole 17 communicate with the exhaust pipe 20 through a branch pipe 19 ; the exhaust pipe 20 communicates with the exhaust hole 10 .

further:

A protection bracket 21 is connected to the lower surface of the pressure shell 9 , and the gas storage chamber 13 is located inside the protection bracket 21 .

further:

There are two hydraulic pipelines 2; two sets of hydraulic systems; two hydraulic cylinders 11; three gas distributors 12; each hydraulic pipeline 2 drives one hydraulic cylinder 11 through a set of hydraulic systems.

further:

At least one end of the gas distributor sliding rod 15 is connected to the gas distributor sliding plate 16 .

The optimization scheme of a radiation-resistant underwater working robot platform of the present invention is as follows:

As shown in FIG. 1 , including an underwater vehicle 1, the underwater vehicle 1 is connected to a water surface auxiliary support device 4 that can float on the water surface through two hydraulic pipelines 2 and one air pipe 3, and the air pipe 3 passes through the water surface auxiliary support device 4. The device 4 is connected with the air pump; the air pump is connected with the control end; the surface auxiliary support device 4 can drive the underwater vehicle 1 to run.

As shown in FIG. 2 , the water surface auxiliary support device 4 includes a floating body 5, and two sets of hydraulic systems are arranged in the floating body 5; The nut is connected with the connecting rod 7 , the connecting rod 7 is connected with the piston of the hydraulic oil pump 8 , and the fixed end of the hydraulic oil pump 8 is connected with the hydraulic pipeline 2 . The two electric motors 6 in the two sets of hydraulic systems are parallel to each other and in the same direction, and the two electric motors 6 are fixed by the support member 22 .

As shown in FIG. 3 , the underwater vehicle 1 includes a set of rectangular pressure-resistant shells 9 with opposite sides of which are 1/2 arcs in cross-section. The four sides of the pressure-resistant shells 9 are provided with exhaust holes a10. In order to discharge gas with a certain pressure in different directions, the underwater attitude of the underwater vehicle 1 can be changed through the reaction with water. (As shown in FIG. 4 ) the two hydraulic pipelines 2 are connected to the fixed ends of the two hydraulic cylinders 11 through the pressure resistant shell 9 respectively, and a small section of hydraulic oil is sealed in the hydraulic pipeline 2; There are three parallel gas distributors 12, a cylindrical gas storage cavity 13 is arranged below the gas distributor 12, and an exhaust hole b14 is opened on the lower surface of the gas storage cavity 13. Fine adjustment of the buoyancy of the underwater vehicle 1, so as to control the depth of the underwater vehicle 3 in the water. The free end of the piston rod of the hydraulic cylinder 11 is connected to the gas distributor sliding rod 15 perpendicular to it, and at least one end of the gas distributor sliding rod 15 is connected to the gas distributor sliding piece 16; The action can close or open the gas distribution hole 17 on the gas distributor 12; (as shown in Figure 5) the gas pipe 3 is connected to one end of the main pipe 18 through the pressure-resistant shell 9, and the other end of the main pipe 18 is connected to one end of the gas distributor 12; One hole in the distribution hole 17 is connected to the gas storage chamber 13 through a pipeline, and the other holes in the gas distribution hole 17 communicate with the exhaust pipe 20 through a branch pipe 19 ; the exhaust pipe 20 communicates with the exhaust hole 10 . A protection bracket 21 is connected to the lower surface of the pressure shell 9 , and the air storage cavity 13 is located inside the protection bracket 21 . Cameras, detectors, robotic arms and other working equipment can be installed in the protection bracket 21, and various detection and operation equipment can also be attached externally.

The working process of the radiation-resistant underwater working robot of the present invention is as follows: start the control end as required, and start the motor 6 when the robot is required to move in the horizontal plane, the motor 6 works to move the ball screw connected to it, and the ball screw drives the screw. The nut moves, so that the connecting rod 7 moves, the connecting rod 7 squeezes the piston of the hydraulic oil pump 8, and squeezes the oil of the hydraulic pipeline 2 connected with the hydraulic oil pump 8 to the hydraulic cylinder 11, so that the piston rod of the hydraulic cylinder 11 is extended. out, the piston rod drives the gas distributor sliding rod 15 vertically connected to it, thereby driving the gas distributor sliding vane 16 to slide, and with the cooperation of the three gas distributors 12, the corresponding gas distribution holes 17 are opened; 18 receives the compressed gas from the outside through the gas pipe 3, and makes the compressed gas enter the exhaust pipe 20 through the branch pipe 19 through the gas distribution hole 17, so as to eject the exhaust hole 10, and through the reaction with water, the underwater vehicle 1 is underwater. The direction and attitude of the horizontal plane can be changed.

When the robot needs to move in the vertical plane, the operation process and the movement process are roughly the same as the above, the difference is that with the cooperation of the three gas distributors 12, the gas distribution hole 17 leading to the gas storage chamber 13 through the pipeline is opened, and the main pipe 18 Receive the compressed gas from the outside through the gas pipe 3, make the compressed gas enter the gas storage chamber 13 through the pipeline through the gas distribution hole 17, and realize the fine adjustment of the buoyancy of the underwater vehicle 1 by adjusting the volume of the gas entering the gas storage chamber 13, so as to control The underwater vehicle 3 is deep in the water.

The invention is a radiation-resistant underwater operation robot platform, which minimizes the existence of the electronic part under water, and greatly improves the survivability of the equipment in the strong radiation area; the invention adopts a pneumatic and hydraulic hybrid control drive unit , When in use, when an external mechanical arm or other equipment is installed, it can be driven without relying on electronic equipment. On the whole, compared with the traditional equipment, the present invention greatly improves the radiation resistance, greatly enhances the reliability of the operation under the radiation environment, and the equipment has low construction cost and is easy to construct and produce.

Claims (4)

1. Radiation-resistant underwater operation robot which is characterized in that: the underwater vehicle (1) is connected with a water surface auxiliary supporting device (4) capable of floating on the water surface through a hydraulic pipeline (2) and an air pipe (3), and the air pipe (3) penetrates through the water surface auxiliary supporting device (4) and is connected with an air pump; the air pump is connected with the control end; the water surface auxiliary supporting equipment (4) can drive the underwater vehicle (1) to operate;

the water surface auxiliary supporting equipment (4) comprises a floating body (5), and a hydraulic system is arranged in the floating body (5); the hydraulic system comprises a motor (6) which is horizontally arranged, an output shaft of the motor (6) is connected with a ball screw, a screw nut of the ball screw is connected with a connecting rod (7), the connecting rod (7) is connected with a piston of a hydraulic oil pump (8), and the fixed end of the hydraulic oil pump (8) is connected with a hydraulic pipeline (2); the motor (6) is connected with the control end;

the underwater vehicle (1) comprises a rectangular pressure-resistant shell (9) with a cross section of a group of opposite sides in the shape of 1/2 circular arcs, and exhaust holes a (10) are formed in four side faces of the pressure-resistant shell (9); the hydraulic pipeline (2) penetrates through the pressure-resistant shell (9) and is connected with the fixed end of a hydraulic cylinder (11) arranged in the pressure-resistant shell (9); an air distributor (12) parallel to the hydraulic cylinder (11) is arranged beside the hydraulic cylinder, an air storage cavity (13) is arranged below the air distributor (12), and an exhaust hole b (14) is formed in the lower surface of the air storage cavity (13); the free end of a piston rod of the hydraulic cylinder (11) is connected with an air distributor sliding rod (15) vertical to the free end, and one end of the air distributor sliding rod (15) is connected with an air distributor sliding sheet (16); the air distributor sliding sheet (16) can close or open the air distribution holes (17) on the air distributor (12) along with the action of the air distributor sliding rod (15); the air pipe (3) penetrates through the pressure shell (9) to be connected with one end of the main pipe (18), and the other end of the main pipe (18) is connected with one end of the air distributor (12); one hole in the gas distribution holes (17) is connected with the gas storage cavity (13) through a pipeline, and the rest holes in the gas distribution holes (17) are communicated with the exhaust pipeline (20) through branch pipes (19); the exhaust duct (20) is communicated with the exhaust hole (10).

2. A radiation resistant underwater operation robot as claimed in claim 1, characterized in that: the lower surface of the pressure-resistant shell (9) is connected with a protective support (21), and the gas storage cavity (13) is located inside the protective support (21).

3. A radiation resistant underwater operation robot as claimed in claim 2, characterized in that: the number of the hydraulic pipelines (2) is two; two sets of hydraulic systems are provided; two hydraulic cylinders (11) are provided; three gas distributors (12); each hydraulic line (2) drives a hydraulic cylinder (11) through a set of hydraulic systems.

4. A radiation resistant underwater operation robot as claimed in claim 3, characterized in that: at least one end of the air distributor sliding rod (15) is connected with an air distributor sliding sheet (16).

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