CN108891564B - Radiation-resistant underwater operation robot - Google Patents
Radiation-resistant underwater operation robot Download PDFInfo
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- CN108891564B CN108891564B CN201810865978.2A CN201810865978A CN108891564B CN 108891564 B CN108891564 B CN 108891564B CN 201810865978 A CN201810865978 A CN 201810865978A CN 108891564 B CN108891564 B CN 108891564B
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- hydraulic
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- air distributor
- water surface
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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 invention discloses a radiation-resistant underwater operation robot which comprises an underwater vehicle, wherein the underwater vehicle is connected with water surface auxiliary supporting equipment capable of floating on the water surface through a hydraulic pipeline and an air pipe, and the air pipe penetrates through the water surface auxiliary supporting equipment and is connected with an air pump; the air pump is connected with the control end; the surface auxiliary support equipment can drive the underwater vehicle to operate. The invention reduces the existence of the electronic part under water to the utmost extent, and greatly improves the survival capability of the equipment in a strong radiation area; the invention adopts a pneumatic and hydraulic hybrid control driving unit, and when in use, when a mechanical arm or other equipment is additionally arranged outside, the driving can be realized without depending on electronic equipment.
Description
Technical Field
The invention belongs to the technical field of special robots, and particularly relates to a radiation-resistant underwater operation robot.
Background
The nuclear reactor pool, the spent fuel pool and other pools with radioactive substances are high in radioactivity, when the underwater condition is inspected and underwater operation is carried out under normal and accident conditions, operating equipment is continuously irradiated by rays, so that the electronic part of the operating equipment is abnormal and even fails, and under the condition of a nuclear accident, the operating site is high in radioactivity, the operating equipment is rapidly failed, and required work cannot be completed.
At present, only limited equipment is available in the market, the equipment mostly adopts electronic part shielding, a control part is moved to the position outside the water surface, only a motor relatively radiation-resistant part is reserved in the underwater part, and the like, but electronic devices exist inevitably, and the equipment is still influenced by the radiation environment.
Disclosure of Invention
The invention aims to provide a radiation-resistant underwater operation robot, which solves the problems that operation equipment in the prior art is provided with a large number of electronic devices and has poor radiation resistance.
The radiation-resistant underwater operation robot comprises an underwater vehicle, wherein the underwater vehicle is connected with water surface auxiliary supporting equipment capable of floating on the water surface through a hydraulic pipeline and an air pipe, and the air pipe penetrates through the water surface auxiliary supporting equipment and is connected with an air pump; the air pump is connected with the control end; the water surface auxiliary supporting equipment can drive the underwater vehicle to operate;
the water surface auxiliary supporting equipment comprises a floating body, and a hydraulic system is arranged in the floating body; the hydraulic system comprises a horizontally arranged motor, an output shaft of the motor is connected with a ball screw, a screw nut of the ball screw is connected with a connecting rod, the connecting rod is connected with a piston of a hydraulic oil pump, and the fixed end of the hydraulic oil pump is connected with a hydraulic pipeline; the motor is connected with the control end.
The underwater vehicle comprises a rectangular pressure-resistant shell with a cross section of a group of opposite sides in the shape of 1/2 circular arcs, and exhaust holes a are formed in four side surfaces of the pressure-resistant shell; the hydraulic pipeline penetrates through the pressure-resistant shell and is connected with the fixed end of a hydraulic cylinder arranged in the pressure-resistant shell; an air distributor parallel to the hydraulic cylinder is arranged beside the hydraulic cylinder, an air storage cavity is arranged below the air distributor, and an exhaust hole b is formed in the lower surface of the air storage cavity; the free end of a piston rod of the hydraulic cylinder is connected with a gas distributor sliding rod vertical to the piston rod, and one end of the gas distributor sliding rod is connected with a gas distributor sliding sheet; the gas distributor slide sheet can close or open the gas distribution holes on the gas distributor along with the action of the gas distributor slide rod; the air pipe penetrates through the pressure-resistant shell to be connected with one end of the main pipe, and the other end of the main pipe is connected with one end of the air distributor; one hole in the gas distribution holes is connected with the gas storage cavity through a pipeline, and the rest holes in the gas distribution holes are communicated with the exhaust pipeline through branch pipes; the exhaust pipeline is communicated with the exhaust hole.
The lower surface of the pressure-resistant shell is connected with a protective support, and the gas storage cavity is located inside the protective support.
Two hydraulic pipelines are provided; two sets of hydraulic systems are provided; two hydraulic cylinders are provided; three gas distributors are arranged; each hydraulic line drives a hydraulic cylinder through a set of hydraulic systems.
At least one end of the sliding rod of the gas distributor is connected with the sliding sheet of the gas distributor.
The invention has the beneficial effects that:
the radiation-resistant underwater operation robot platform has the advantages that the existence of an electronic part under water is reduced to the maximum extent, so that the survival capability of equipment in a strong radiation area is greatly improved; the invention adopts a pneumatic and hydraulic hybrid control driving unit, and when in use, when a mechanical arm or other equipment is additionally arranged outside, the driving can be realized without depending on electronic equipment. Compared with the traditional equipment, the radiation-resistant capacity of the invention is greatly improved, the reliability of operation in radiation environment is greatly enhanced, the construction cost of the equipment is low, and the equipment is easy to construct and produce.
Drawings
FIG. 1 is a schematic view of a radiation-resistant underwater operation robot of the present invention;
FIG. 2 is a schematic structural diagram of an auxiliary support device on the water surface in the radiation-resistant underwater operation robot of the present invention;
fig. 3 is a schematic view of the external structure of an underwater vehicle in the radiation-resistant underwater working robot of the present invention;
fig. 4 is a schematic view of the internal structure of an underwater vehicle in the radiation-resistant underwater working robot of the present invention;
fig. 5 is a schematic view of the internal structure of an underwater vehicle in the radiation-resistant underwater working robot of the present invention.
In the figure, 1, an underwater vehicle, 2, a hydraulic pipeline, 3, an air pipe, 4, a water surface auxiliary supporting device, 5, a floating body, 6, a motor, 7, a connecting rod, 8, a hydraulic oil pump, 9, a pressure shell, 10, an exhaust hole a, 11, a hydraulic cylinder, 12, an air distributor, 13, an air storage cavity, 14, an exhaust hole b, 15, an air distributor sliding rod, 16, an air distributor sliding sheet, 17, an air distribution hole, 18, a main pipe, 19, a branch pipe, 20, an exhaust pipeline, 21, a protective bracket and 22, a supporting piece are arranged.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to a radiation-resistant underwater operation robot, which comprises an underwater vehicle 1, wherein 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 the hydraulic pipeline 2; the motor 6 is connected with the control end.
Further:
the underwater vehicle 1 comprises a rectangular pressure-resistant shell 9 with a cross section of a group of opposite sides in an 1/2 arc shape, and four side surfaces of the pressure-resistant shell 9 are provided with exhaust holes a 10; the hydraulic pipeline 2 passes 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 the lower surface of the air storage cavity 13 is provided with an exhaust hole b 14; the free end of a piston rod of the hydraulic cylinder 11 is connected with an air distributor slide rod 15 vertical to the free end, and one end of the air distributor slide rod 15 is connected with an air distributor slide sheet 16; the gas distributor slide 16 can close or open the gas distribution holes 17 on the gas distributor 12 along with the action of the gas distributor slide rod 15; the air pipe 3 penetrates through the pressure shell 9 to be connected with one end of a main pipe 18, and the other end of the main pipe 18 is connected with one end of an air distributor 12; one of the gas distribution holes 17 is connected with the gas storage cavity 13 through a pipeline, and the rest of the gas distribution holes 17 are communicated with an exhaust pipeline 20 through a branch pipe 19; the exhaust duct 20 communicates with the exhaust hole 10.
Further:
the lower surface of the pressure-resistant shell 9 is connected with a protective bracket 21, and the gas storage cavity 13 is positioned inside the protective bracket 21.
Further:
two hydraulic pipelines 2 are provided; two sets of hydraulic systems are provided; two hydraulic cylinders 11 are provided; three gas distributors 12; each hydraulic circuit 2 drives a hydraulic cylinder 11 through a set of hydraulic systems.
Further:
at least one end of the gas distributor slide bar 15 is connected to a gas distributor slide 16.
The invention discloses an optimization scheme of a radiation-resistant underwater operation robot platform, which comprises the following steps:
as shown in fig. 1, the underwater vehicle comprises an underwater vehicle 1, wherein the underwater vehicle 1 is connected with a water surface auxiliary supporting device 4 capable of floating on the water surface through two hydraulic pipelines 2 and a gas pipe 3, and the gas pipe 3 penetrates through the water surface auxiliary supporting device 4 and is connected with a gas pump; the air pump is connected with the control end; the surface auxiliary support apparatus 4 may drive the underwater vehicle 1 in operation.
As shown in fig. 2, the water surface auxiliary supporting equipment 4 comprises a floating body 5, and two sets of hydraulic systems are arranged in the floating body 5; the hydraulic system comprises a motor 6 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 two motors 6 in the two sets of hydraulic systems are parallel to each other and have the same direction, and the two motors 6 are fixed through a support 22.
As shown in fig. 3, the underwater vehicle 1 includes a rectangular pressure housing 9 having a cross section formed by a pair of rectangular pressure housings with opposite sides of 1/2 circular arcs, and exhaust holes a10 are formed in four side surfaces of the pressure housing 9, and are used for exhausting gas with a certain pressure in different directions, so that the underwater posture of the underwater vehicle 1 is changed by the reaction with water. (as shown in fig. 4), two hydraulic pipelines 2 penetrate through the pressure housing 9 and are respectively connected with the fixed ends of two hydraulic cylinders 11, and a small section of hydraulic oil is sealed in the hydraulic pipeline 2; three gas distributors 12 parallel to the hydraulic cylinder 11 are arranged beside the hydraulic cylinder 11, a cylindrical gas storage cavity 13 is arranged below the gas distributors 12, an exhaust hole b14 is formed in the lower surface of the gas storage cavity 13, and fine adjustment of buoyancy of the underwater vehicle 1 can be realized by adjusting the volume of gas entering the gas storage cavity 13, so that the depth of the underwater vehicle 3 in water can be controlled. The free end of a piston rod of the hydraulic cylinder 11 is connected with an air distributor slide rod 15 vertical to the free end, and at least one end of the air distributor slide rod 15 is connected with an air distributor slide sheet 16; the gas distributor slide 16 can close or open the gas distribution holes 17 on the gas distributor 12 along with the action of the gas distributor slide rod 15; (as shown in FIG. 5) the gas pipe 3 passes through the pressure housing 9 and is connected to one end of the main pipe 18, and the other end of the main pipe 18 is connected to one end of the gas distributor 12; one of the gas distribution holes 17 is connected with the gas storage cavity 13 through a pipeline, and the rest of the gas distribution holes 17 are communicated with an exhaust pipeline 20 through a branch pipe 19; the exhaust duct 20 communicates with the exhaust hole 10. The lower surface of the pressure-resistant shell 9 is connected with a protective bracket 21, and the gas storage cavity 13 is positioned inside the protective bracket 21. The protective bracket 21 can be internally provided with working equipment such as a camera, a detector, a mechanical arm and the like, and can also be externally hung with various detection and operation equipment.
The working process of the radiation-resistant underwater operation robot comprises the following steps: starting a control end as required, when the robot moves on a horizontal plane, starting a motor 6, enabling the motor 6 to work to enable a ball screw connected with the motor to move, enabling the ball screw to drive a screw nut of the ball screw to move, enabling a connecting rod 7 to move, enabling the connecting rod 7 to extrude a piston of a hydraulic oil pump 8, extruding oil of a hydraulic pipeline 2 connected with the hydraulic oil pump 8 to a hydraulic cylinder 11, enabling a piston rod of the hydraulic cylinder 11 to extend out, enabling the piston rod to drive a gas distributor slide bar 15 vertically connected with the piston rod, and driving a gas distributor slide sheet 16 to slide, and enabling a corresponding gas distribution hole 17 to be opened under the cooperation of three gas distributors 12; starting the air pump, receiving compressed air from the outside by the main pipe 18 through the air pipe 3, enabling the compressed air to enter the exhaust pipeline 20 through the branch pipe 19 through the air distribution holes 17, and then ejecting out the exhaust holes 10, and through the reaction with water, the direction and the posture of the underwater vehicle 1 on the underwater horizontal plane can be changed.
When the robot needs to move in a vertical plane, the operation process and the movement process are approximately the same as the above, and the difference is that under the cooperation of the three gas distributors 12, a gas distribution hole 17 leading to the gas storage cavity 13 through a pipeline is opened, the main pipe 18 receives compressed gas from the outside through the gas pipe 3, the compressed gas enters the gas storage cavity 13 through the pipeline through the gas distribution hole 17, and the fine adjustment of the buoyancy of the underwater vehicle 1 is realized by adjusting the volume of the gas entering the gas storage cavity 13, so that the depth of the underwater vehicle 3 in the water is controlled.
The radiation-resistant underwater operation robot platform provided by the invention has the advantages that the existence of an electronic part under water is reduced to the maximum extent, so that the survival capability of equipment in a strong radiation area is greatly improved; the invention adopts a pneumatic and hydraulic hybrid control driving unit, and when in use, when a mechanical arm or other equipment is additionally arranged outside, the driving can be realized without depending on electronic equipment. Compared with the traditional equipment, the radiation-resistant capacity of the invention is greatly improved, the reliability of operation in radiation environment is greatly enhanced, the construction cost of the equipment is low, and the equipment 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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810865978.2A CN108891564B (en) | 2018-08-01 | 2018-08-01 | Radiation-resistant underwater operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810865978.2A CN108891564B (en) | 2018-08-01 | 2018-08-01 | Radiation-resistant underwater operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108891564A CN108891564A (en) | 2018-11-27 |
| CN108891564B true CN108891564B (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810865978.2A Active CN108891564B (en) | 2018-08-01 | 2018-08-01 | Radiation-resistant underwater operation robot |
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Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203078741U (en) * | 2013-02-05 | 2013-07-24 | 中国海洋大学 | In-situ detection device of strength of beach and shallow sea sediments |
| CN104369842B (en) * | 2014-08-12 | 2017-04-12 | 浙江大学 | Water surface auxiliary robot based on autonomous underwater vehicle and use method |
| CN206569240U (en) * | 2017-03-08 | 2017-10-20 | 广东海洋大学 | A kind of underwater robot sink-float and attitude controller |
| CN208979081U (en) * | 2018-08-01 | 2019-06-14 | 西安誉博机器人系统技术有限公司 | A kind of radiation hardness underwater operation robot platform |
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| CN108891564A (en) | 2018-11-27 |
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