CN201325591Y - Radiation resistant underwater monitoring robot - Google Patents
Radiation resistant underwater monitoring robot Download PDFInfo
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- CN201325591Y CN201325591Y CNU2008201355222U CN200820135522U CN201325591Y CN 201325591 Y CN201325591 Y CN 201325591Y CN U2008201355222 U CNU2008201355222 U CN U2008201355222U CN 200820135522 U CN200820135522 U CN 200820135522U CN 201325591 Y CN201325591 Y CN 201325591Y
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Abstract
The utility model belongs to an underwater monitoring robot, and particularly discloses a radiation resistant underwater monitoring robot. Control commands are transmitted by a remote controller to a main controller through a CAN bus and then respectively transmitted to a monitoring and video recorder, a robot body, a tilt head, an underwater lighting device, an underwater camera head and a manipulator; the monitoring and video recorder serves as the post-processing part of the underwater camera head for acquiring video data and is used for displaying and recording the video information of the underwater camera head; and the posture and the pressure information of the robot body is collected by a sensor and then transmitted to the main controller. The robot can continuously operate for 10 hours under the radiation environment with the environmental dose of 10<5>rad, has the advantages of small volume, compact structure and stable operation, and is automatically combined with automatic and mutual control, thereby satisfying different movement control requirements.
Description
Technical field
The utility model belongs to a kind of under-water robot, is specifically related to a kind of radiation resistant underwater monitoring robot that is applied to subsea equipment maintenance monitoring, in-pile component and the visual inspection of nuclear station key equipment and the under-water operation of high radioactivity nuclear environment.
Background technology
Nuclear power plant may cause the especially damage of cradle cylinder body outside irradiation inspection tube of in-pile component after long-time running.For guaranteeing npp safety, smooth operation, must guarantee the intact of in-pile component, need in case of necessity to its detect, maintenance and part replacement.Because in-pile component is in the high radioactivity environment, testing staff and maintainer's irradiation have a big risk, the difficulty height, therefore must develop automatic detection of a cover and maintenance system to the equipment under the nuclear radiation environments such as in-pile component detect, maintenance and part replacement.
Under-water robot is a kind of automatic mechanical system that swims in water, by carrying different sensing elements, as camera, sensor etc., video detects, the mechatronics system of under-water operation finishing under water under the remote control of operating personal or under the computer controlled automatic.The civilian under-water robot that runs on river course or marine field at home and abroad is widely used, such as river course dykes and dams detection machine people and ocean deepwater robot.Yet the general volume of robot system is bigger under the domestic use of water, and weight is heavier, and kinematic dexterity is poor, the maneuverability that does not possess the small space Equipment Inspection, do not possess anti-Radiation Characteristics, can't be applied to nuclear environment, such under-water robot generally only possesses the function of observation machine simultaneously.
Summary of the invention
The purpose of this utility model is to provide a kind of radiation resistant underwater monitoring robot, this robot can be deep into refuelling pool, integrity to the reactor inner member is carried out video check, can hover over any position in the refuelling pool, the overall process of maintenance of monitoring in-pile component and part replacement, guarantee carrying out smoothly of in-pile component maintenance and part replacement, can pick up the foreign matter in the pond, finish the cleaning of refuelling pool.
Realize the technical scheme of the utility model purpose: a kind of radiation resistant underwater monitoring robot, it comprises master controller, remote controllers, supervision and video tape recorder, robot body, tilt-top, underwater illuminating device, underwater camera head, manipulator and attitude sensor, wherein, master controller adopts the bus distributed mode of CAN, all control commands of master controller and signal data are undertaken alternately by CAN bus and remote controllers, realize systemic-function; Remote controllers are given master controller by CAN bus transfer control command, are transferred to supervision and video tape recorder, robot body, tilt-top, underwater illumination, underwater camera head, manipulator respectively by master controller again; Supervision is the post-processing part of underwater camera head video data acquiring with video tape recorder, shows and record the video information of underwater camera head; Attitude sensor is gathered the information transfer of robot body, tilt-top, underwater illumination, underwater camera head and manipulator and is given master controller.
Described robot body comprises back cabin, back upper-deck cabin, preceding left cabin, preceding right cabin, horizontal surface left side propelling unit, the right propelling unit of horizontal surface, the right propelling unit of vertical plane, vertical plane left side propelling unit, base, basic framework down; Be fixed with the basic framework that vertically place at two intervals on the base, back cabin down circumferentially is interval with two all flanges with the back upper-deck cabin outside that is positioned at top, cabin under the back respectively along it, before left cabin and with the preceding right side of preceding left cabin on same horizontal surface out of my cabin portion circumferentially be provided with all flanges respectively along it, captive joint with the sidewall of basic framework in the back down flange on cabin, back upper-deck cabin, preceding left cabin, the preceding right cabin; The right propelling unit of horizontal surface left side propelling unit and horizontal surface be located at the back down cabin and back upper-deck cabin and both be positioned on the same horizontal surface, horizontal surface left side propelling unit, the right propelling unit of horizontal surface respectively with captive joint between two basic frameworks; Vertical plane left side propelling unit is between preceding left cabin and back upper-deck cabin, the right propelling unit of vertical plane is between preceding right cabin and back upper-deck cabin, and right propelling unit of vertical plane and vertical plane left side propelling unit are on same perpendicular, and the right propelling unit of vertical plane, vertical plane left side propelling unit are captiveed joint respectively with between two basic frameworks.
Be provided with tilt-top in the left cabin before described with a rotary freedom, left cabin before the tilt-top drive motor of the tilt-top speed-changing mechanism of tilt-top and driving speed-changing mechanism is positioned at, the free end of tilt-top is positioned at preceding left side portion out of my cabin; Be fixed with underwater camera head and manipulator on the free end of tilt-top, underwater camera head capsule body is fixed with a underwater illuminating device respectively on the two side, and manipulator is controlled motor, finger folding control motor, mechanical finger by telescopic arm and connected to form successively; The back down is provided with attitude sensor in the cabin, and attitude sensor comprises pressure sensor and compass, and pressure sensor and compass are separately fixed at the back down on the inwall of cabin; Tilt-top speed-changing mechanism on telescopic arm on manipulator control motor, finger folding control motor and mechanical finger, the tilt-top and tilt-top drive motor, underwater illuminating device by the control cable all be fixed on base on concentrator be connected, the other end of connecting hub is connected with master controller by the control cable, and the transducing signal transmission line of the pressure sensor of attitude sensor, compass is connected with master controller by underwater electrical connector.
Described back down the cabin with afterwards captive joint by hollow mechanism between the upper-deck cabin; Propelling unit is separately fixed on the cassette joint piece, and the cassette joint piece is connected by on lock bolt and the basic framework; Be fixed with clump weight on the base; Bumper frame is an arc frame; the bottom of bumper frame is fixed on the base; the other end of bumper frame is fixed on the sidewall of basic framework; and underwater camera head, underwater illuminating device and manipulator are positioned at the arc of bumper frame; bumper frame is the fender bracket of underwater camera head, underwater illuminating device and manipulator, avoids because the people causes the damaged in collision of underwater camera head, underwater illuminating device and manipulator for maloperation.
Described basic framework top is provided with hole for hoist; Be connected by lock bolt between the flange of cabin body and the basic framework; Clump weight is bound up on the base by angle bar and lock bolt, and basic framework is fixed on the base by lock bolt, and the two ends of bumper frame are all by on lock bolt difference firm banking and the basic framework; The underwater camera head is the camera of anti-irradiation, has zoom and focusing effect automatically; Underwater illuminating device adopts the encapsulation of low power high-brightness LED to form, and is installed in underwater camera head capsule body both sides respectively by bolted connection; Combine by lock bolt between telescopic arm control motor, finger folding control motor and the mechanical finger; Propelling unit all adopts the 15W motor, and its operating voltage is 0-20V, and rotating speed is 0-650rpm, and can produce maximum thrust is 1.1Kg.
Described robot body, tilt-top, underwater illuminating device, underwater camera head and manipulator are the material of anti-irradiation.
The beneficial effects of the utility model are: the characteristics of radiation resistant underwater monitoring robot of the present utility model are that total system adopts anti-irradiation design, may operate under the high dose nuclear radiation environment, can reach 10 in the highest environment dose rate
5The environment of rad moves 10 hours down continuously; Radiation resistant underwater monitoring robot described in the utility model is the robot that swims in the water simultaneously, can hover over any depth location of 40 meters depth of waters; The under-water robot of anti-irradiation described in the utility model adopts manual motion switch control, when automatic operation is controlled, utilizes multi-sensor fusion technology, pass through controlled reset, the directed depthkeeping of realizing robot moves automatically, and accurately directed, depthkeeping hovers stable.Little, the compact conformation of volume operates steadily, and combines with manual control automatically, satisfies different motion requirements control.This robot can be deep into refuelling pool, integrity to the reactor inner member is carried out video check, can hover over any monitoring position in-pile component maintenance and part replacement overall process in the refuelling pool, guarantee carrying out smoothly of in-pile component maintenance and part replacement, can pick up the foreign matter in the pond, finish the cleaning of refuelling pool.Possess underwater television, underwater illumination, the function of foreign matter extracting under water, the inspection machine people of in-pile component when this robot can overhaul as nuclear power plant's shutdown, when carrying out the in-pile component maintenance, can be used as the supervisory-controlled robot of in-pile component maintenance, can clear up foreign matter in nuclear power plant's refuelling pool simultaneously with part replacement.This robot also can be used as monitoring, monitoring and the cleaning work of other non-nuclear field subsea equipments.
Description of drawings
Fig. 1 is the under-water robot of anti-irradiation system framework figure;
Fig. 2 and Fig. 3 are the 3 dimensional drawing of robot body;
Fig. 4 is the two-dimensional structure scheme drawing of robot body and functional component;
Fig. 5 is that the A-A of Fig. 4 is to cutaway view;
Fig. 6 is that the B-B of Fig. 5 is to cutaway view;
Fig. 7 is that the C-C of Fig. 4 is to cutaway view;
Fig. 8 is the structural representation that cabin body and basic framework connect.
Among the figure: 1. base; 2. clump weight; 3. underwater electrical connector; 4. cabin under after; 5. underwater electrical connector; 6. basic framework; 7. upper-deck cabin after; 8. hole for hoist; 9. concentrator; 10. underwater camera head; 11. underwater illuminating device; 12. telescopic arm control motor; 13. mechanical finger; 14. finger folding control motor; 15. bumper frame; 16. horizontal surface left side propelling unit; 17. the right propelling unit of horizontal surface; 18. cassette joint piece; 19. the right propelling unit of vertical plane; 20. vertical plane left side propelling unit; 21. tilt-top speed-changing mechanism; 22. underwater electrical connector; 23. tilt-top drive motor; 24. preceding left cabin; 25. preceding right cabin; 26. pressure sensor; 27. compass; 28. underwater electrical connector; 29. hollow mechanism; 30. remote manipulator; 31. monitor and video tape recorder; 32. master controller; 33. under-water robot body; 34. tilt-top; 35. manipulator; 36. flange; 37. attitude sensor; 38. The Cloud Terrace base.
Specific embodiment
Below in conjunction with drawings and Examples a kind of under-water robot of anti-irradiation provided by the utility model is described in further detail.
As shown in Figure 1, a kind of radiation resistant underwater monitoring robot, it comprises master controller 32, remote controllers 30, supervision and video tape recorder 31, robot body 33, tilt-top 34, underwater illuminating device 11, underwater camera head 10, manipulator 35 and attitude sensor 37.Master controller 32 adopts the bus distributed mode of CAN, and all control commands of master controller 32 and signal data are undertaken alternately by CAN bus and remote controllers 30, realizes systemic-function; Remote controllers 30 are given master controller 32 by CAN bus transfer control command, are transferred to respectively by master controller 32 to monitor and video tape recorder 31, robot body 33, tilt-top 34, underwater illumination 11, underwater camera head 10, manipulator 35 again; Supervision is post-processing parts of underwater camera head 10 video data acquirings with video tape recorder 31, shows and record the video information of underwater camera head 10; Attitude sensor 37 is gathered the information transfer of robot body 33, tilt-top 34, underwater illumination 11, underwater camera head 10 and manipulator 35 and is given master controller 32.
As Fig. 2, Fig. 3 and shown in Figure 4, robot body 33 comprises back cabin 4, back upper-deck cabin 7, preceding left cabin 24, preceding right cabin 25, horizontal surface left side propelling unit 16, the right propelling unit 17 of horizontal surface, the right propelling unit 19 of vertical plane, vertical plane left side propelling unit 20, base 1, basic framework 6 down; Be fixed with the basic framework 6 that vertically place at two intervals on the base 1, back cabin 4 down circumferentially is interval with two all flanges 36 with upper-deck cabin 7 outsides, back respectively along it, preceding left cabin 24 and 25 outsides, preceding right cabin circumferentially are provided with all flanges 36 respectively along it, and the flange 36 under the back on cabin 4, back upper-deck cabin 7, preceding left cabin 24, the preceding right cabin 25 is captiveed joint with the sidewall of basic framework 6; The right propelling unit 17 of horizontal surface left side propelling unit 16 and horizontal surface between cabin 4 under the back and back upper-deck cabin 7 and both be positioned on the same horizontal surface, horizontal surface left side propelling unit 16, the right propelling unit 17 of horizontal surface are captiveed joint respectively with between two basic frameworks 6; Vertical plane left side propelling unit 20 is between preceding left cabin 24 and back upper-deck cabin 7, the right propelling unit 19 of vertical plane is between preceding right cabin 25 and back upper-deck cabin 7, and right propelling unit 19 of vertical plane and vertical plane left side propelling unit 20 are on same perpendicular, and the right propelling unit 19 of vertical plane, vertical plane left side propelling unit 20 are captiveed joint respectively with between two basic frameworks 6.
As shown in Figure 6, be provided with tilt-top 34 in the preceding left cabin 24 with rotary freedom, tilt-top 34 comprises The Cloud Terrace base 38, tilt-top speed-changing mechanism 21 and tilt-top drive motor 23, driving speed-changing mechanism 21 is speed-change gear, tilt-top drive motor 23 is by gear drive tilt-top speed-changing mechanism 21, The Cloud Terrace base 38 is fixed on the gear that drives speed-changing mechanism 21, The Cloud Terrace base 38 can be around the main axis rotation of tilt-top speed-changing mechanism 21, tilt-top drive motor 23 is positioned at preceding left cabin 24, and The Cloud Terrace base 38 is positioned at preceding 24 inside and outsides, left cabin, and leave the gap with preceding left cabin 24 housings.As shown in Figure 5, The Cloud Terrace base 38 lateral walls are fixed with underwater camera head 10 and manipulator 35, the underwater camera head is fixed with a underwater illuminating device 11 respectively on the 10 housing two sides, and manipulator 35 is connected to form successively by telescopic arm control motor 12, finger folding control motor 14, mechanical finger 13; The back down is provided with attitude sensor 37 in the cabin 4, and attitude sensor 37 comprises pressure sensor 26 and compass 27, and pressure sensor 26 and compass 27 are separately fixed at the back down on 4 inwalls of cabin; Tilt-top speed-changing mechanism 21 on telescopic arm on the manipulator 35 control motor 12, finger folding control motor 14 and mechanical finger 13, the tilt-top 34 and tilt-top drive motor 23, underwater illuminating device 11 by the control cable all be fixed on base 1 on concentrator 9 be connected, the other end of concentrator 9 is connected with master controller 32 by the control cable, and the pressure sensor 26 of attitude sensor 37, the transducing signal transmission line of compass 27 are connected with master controller 32 by underwater electrical connector 3,5,22,28.
As shown in Figure 7, the back down cabin 4 with afterwards captive joint by hollow mechanism 29 between the upper-deck cabin 7.As shown in Figure 5, propelling unit 16,17,19,20 is separately fixed on the cassette joint piece 18, and cassette joint piece 18 is by 6 being connected on lock bolt and the basic framework; Be fixed with clump weight 2 on the base 1.As shown in Figure 1; bumper frame 15 is an arc frame; the bottom of bumper frame 15 is fixed on the base 1; the other end of bumper frame 15 is fixed on the sidewall of basic framework 6; and underwater camera head 10, underwater illuminating device 11 and manipulator 35 are positioned at the arc of bumper frame 15; bumper frame 15 is fender brackets of underwater camera head 10, underwater illuminating device 11 and manipulator 35, avoids because the people causes the damaged in collision of underwater camera head 10, underwater illuminating device 11 and manipulator 35 for maloperation.
Basic framework 6 tops are provided with hole for hoist 8; Be connected by lock bolt between the flange 36 of cabin body and the basic framework 6; Base 1 is the support section of robot body, simultaneously lay platform to adjust the weight of robot body as clump weight 2 again, and make the robot body down-shift of working center as far as possible, has stabilization, clump weight 2 is bound up on the base 1 by angle bar and lock bolt, basic framework 6 is fixed on the base 1 by lock bolt, and the two ends of bumper frame 15 are all by on lock bolt difference firm banking 1 and the basic framework 6; Underwater camera head 10 is the camera of anti-irradiation, has zoom and focusing effect automatically; Underwater illuminating device 11 adopts the encapsulation of low power high-brightness LED to form, and is installed in underwater camera head 10 housing both sides respectively by bolted connection; Have between telescopic arm control motor 12, finger folding control motor 14 mechanical fingers 13 and combine by lock bolt; Propelling unit 16,17,19,20 all adopts the 15W motor, and its operating voltage is 0-20V, and rotating speed is 0-650rpm, and can produce maximum thrust is 1.1Kg.Propelling unit is that the power of robot body provides part, be arranged in the propelling unit 16,17 of the horizontal surface left and right sides, the power that moves forward and backward of robot body mainly is provided, can finishes advancing, retreat, turning of robot body and the original place rotatablely moves according to propelling unit propulsive force direction and varying in size; Be arranged in the propelling unit 20,19 of the vertical surface left and right sides, the power of robot body lifting in water mainly is provided, lifting and the heel of finishing robot body that can and vary in size according to propelling unit propulsive force direction moved.Robot body 33, tilt-top 34, underwater illuminating device 11, underwater camera head 10 and manipulator 35 are the material of anti-irradiation.
Set forth the under-water operation process of the under-water robot of anti-irradiation below in conjunction with accompanying drawing 1～Fig. 8: at first carry out robot body 33 and functional component thereof and throw in, use special-purpose delivery device, be lifted on hole for hoist 8 places of basic framework 6 upper ends, robot body 33 and functional component are moved in the water, and remove special-purpose delivery device, because entire machine human body and functional component are slightly less than buoyancy in weight, therefore, can keep afloat when the under-water robot of anti-irradiation is not worked.The start by sequence under-water robot of anti-irradiation master controller 32, remote manipulator 30, supervision and video tape recorder 31 power supplys.The operating handle that starts remote manipulator 30 runs to desired location with robot body, when front and back promotion and rotating operating handle, two propelling units 16,17 that cooresponding horizontal surface is arranged produce the propulsive force of respective direction and corresponding size, with the advancing of control robot body 33, retreat, about turn and the original place rotation, press the directional buttons of remote manipulator 30, then robot body 33 will retreat or advance along straight line.The lifting knob operation robot body 33 that starts remote manipulator 30 is to required operating depth, two propelling units 19,20 that the corresponding vertical surface of lifting knob is arranged produce equal and opposite in direction, forward or oppositely directed propulsive force that direction is identical simultaneously, lifting with control robot body 33, press the depthkeeping button of remote manipulator 30, then robot body 33 will hover over the current depth of water, when starting the heel knob, two propelling units 19,20 that corresponding vertical surface is arranged produce equal and opposite in direction, the propulsive force that direction is different is with the heel of control robot body 33.Start the camera knob of remote manipulator, adjust the video focal length, underwater camera head 10 is started working, and monitors with video tape recorder 31 simultaneously and starts working, and monitors and write down video data under water.Start the underwater illumination knob of remote manipulator 30, regulate the underwater illumination Illumination intensity according to the environment needs, underwater illuminating device 11 is started working.Start the The Cloud Terrace rotary knob of remote manipulator 30,34 years moving underwater camera heads 10 of tilt-top and underwater illuminating device 11 carry out luffing, enlarge to monitor and the visual detection scope, start the tilt-top locking press button of remote manipulator 30, then tilt-top 34 is locked in the fixed position.In the time will grasping foreign matter, start mechanical finger knob, finger folding control motor 14 starts, mechanical finger 13 opens, and starts the flexible knob of mechanical arm, and mechanical arm control motor 12 starts, manipulator stretches out, and tilt-top 34 cooperative motions are when mechanical finger 13 is depended near foreign matter, restart the mechanical finger knob, mechanical finger 13 closures clamp foreign matter, start the mechanical arm knob, mechanical finger 13 withdrawals are finished foreign matter and are grasped.When the needs manual movement is controlled, by the speed setting knob, regulate four angle of rake propulsive forces respectively to regulate the running velocity of robot body 33, the direction of passage control dial is regulated angle of rake propulsive force direction respectively to regulate the sense of motion of robot body.When needs are manually controlled, the manual mode that the switch mode selector button switches mode of motion.When the robot body seal failure causes leaking; an amperemeter/ammtr on the remote manipulator 30 shows water leakage alarm; when system's electric leakage produces short circuit; another amperemeter/ammtr on the remote manipulator 30 shows leakage-current alarm; the operator can confirm the system failure according to alarm display; at high speed is cut off the electricity supply, protection system.
Claims (5)
1. radiation resistant underwater monitoring robot, it comprises master controller (32), remote controllers (30), supervision and video tape recorder (31), robot body (33), tilt-top (34), underwater illuminating device (11), underwater camera head (10), manipulator (35) and attitude sensor (37), it is characterized in that: master controller (32) adopts the bus distributed mode of CAN, all control commands of master controller (32) and signal data are undertaken alternately by CAN bus and remote controllers (30), realize systemic-function; Remote controllers (30) are given master controller (32) by CAN bus transfer control command, are transferred to respectively by master controller (32) to monitor and video tape recorder (31), robot body (33), tilt-top (34), underwater illumination (11), underwater camera head (10), manipulator (35) again; Supervision is the post-processing part of underwater camera head (10) video data acquiring with video tape recorder (31), shows and record the video information of underwater camera head (10); Attitude sensor (37) is gathered the information transfer of robot body (33), tilt-top (34), underwater illumination (11), underwater camera head (10) and manipulator (35) and is given master controller (32).
2. a kind of radiation resistant underwater monitoring robot according to claim 1 is characterized in that: described robot body (33) comprises back cabin (4), back upper-deck cabin (7), preceding left cabin (24), preceding right cabin (25), horizontal surface left side propelling unit (16), the right propelling unit (17) of horizontal surface, the right propelling unit (19) of vertical plane, vertical plane left side propelling unit (20), base (1), basic framework (6) down; Be fixed with the basic framework (6) that vertically place at two intervals on the base (1), the back is cabin (4) and be positioned at the back and circumferentially be interval with two all flanges (36) respectively along it in back upper-deck cabin (7) outside on top, cabin (4) down down, before left cabin (24) and circumferentially be provided with all flanges (36) respectively along it with the preceding right cabin (25) of preceding left cabin (24) on same horizontal surface is outside, captive joint with the sidewall of basic framework (6) in the back flange (36) on cabin (4), back upper-deck cabin (7), preceding left cabin (24), the preceding right cabin (25) down; The right propelling unit of horizontal surface left side propelling unit (16) and horizontal surface (17) be positioned at the back down between cabin (4) and the back upper-deck cabin (7) and both be positioned on the same horizontal surface, the left propelling unit (16) of horizontal surface, horizontal surface right side propelling unit (17) respectively with captive joint between two basic frameworks (6); Vertical plane left side propelling unit (20) is positioned between preceding left cabin (24) and the back upper-deck cabin (7), the right propelling unit of vertical plane (19) is positioned between preceding right cabin (25) and the back upper-deck cabin (7), and right propelling unit (19) of vertical plane and vertical plane left side propelling unit (20) are on same perpendicular, and the right propelling unit (19) of vertical plane, vertical plane left side propelling unit (20) are captiveed joint respectively with between two basic frameworks (6).
3. according to the described a kind of radiation resistant underwater monitoring robot of claim 2, it is characterized in that: be provided with tilt-top (34) in the left cabin (24) before described with rotary freedom, tilt-top (34) comprises The Cloud Terrace base (38), tilt-top speed-changing mechanism (21) and tilt-top drive motor (23), driving speed-changing mechanism (21) is speed-change gear, tilt-top drive motor (23) is by gear drive tilt-top speed-changing mechanism (21), The Cloud Terrace base (38) is fixed on the gear that drives speed-changing mechanism (21), The Cloud Terrace base (38) can be around the main axis rotation of tilt-top speed-changing mechanism (21), tilt-top drive motor (23) is positioned at preceding left cabin (24), and The Cloud Terrace base (38) is positioned at preceding inside and outside, left cabin (24), and leave the gap with preceding left cabin (24) housing; The Cloud Terrace base (38) lateral wall is fixed with underwater camera head (10) and manipulator (35), underwater camera head (10) is fixed with a underwater illuminating device (11) respectively on the housing two side, and manipulator (35) is connected to form successively by telescopic arm control motor (12), finger folding control motor (14), mechanical finger (13); The back down is provided with attitude sensor (37) in the cabin (4), and attitude sensor (37) comprises pressure sensor (26) and compass (27), and pressure sensor (26) and compass (27) are separately fixed at afterwards down on the inwall of cabin (4); Telescopic arm control motor (12) on the manipulator (35), finger folding control motor (14) and mechanical finger (13), tilt-top speed-changing mechanism (21) on the tilt-top (34) and tilt-top drive motor (23), underwater illuminating device (11) by control cable all be fixed on base (1) on concentrator (9) be connected, the other end of connecting hub (9) is connected the pressure sensor (26) of attitude sensor (37) by the control cable with master controller (32), the transducing signal transmission line of compass (27) is by underwater electrical connector (3), (5), (22), (28) be connected with master controller (32).
4. according to the described a kind of radiation resistant underwater monitoring robot of claim 3, it is characterized in that: described back down cabin (4) with afterwards captive joint by hollow mechanism (29) between the upper-deck cabin (7); Propelling unit (16), (17), (19), (20) are separately fixed on the cassette joint piece (18), and cassette joint piece (18) is connected with (6) on the basic framework by lock bolt; Be fixed with clump weight (2) on the base (1); Bumper frame (15) is an arc frame; the bottom of bumper frame (15) is fixed on the base (1); the other end of bumper frame (15) is fixed on the sidewall of basic framework (6); and underwater camera head (10), underwater illuminating device (11) and manipulator (35) are positioned at the arc of bumper frame (15); bumper frame (15) is the fender bracket of underwater camera head (10), underwater illuminating device (11) and manipulator (35), avoids because the people causes the damaged in collision of underwater camera head (10), underwater illuminating device (11) and manipulator (35) for maloperation.
5. according to the described a kind of radiation resistant underwater monitoring robot of claim 4, it is characterized in that: described basic framework (6) top is provided with hole for hoist (8); Be connected by lock bolt between the flange of cabin body (36) and the basic framework (6); Clump weight (2) is bound up on the base (1) by angle bar and lock bolt, and basic framework (6) is fixed on the base (1) by lock bolt, and the two ends of bumper frame (15) are all by on lock bolt difference firm banking (1) and the basic framework (6); Underwater camera head (10) is the camera of anti-irradiation, has zoom and focusing effect automatically; Underwater illuminating device (11) adopts the encapsulation of low power high-brightness LED to form, and is installed in underwater camera head (10) housing both sides respectively by bolted connection; Have between telescopic arm control motor (12), finger folding control motor (14) mechanical finger (13) and combine by lock bolt; The 15W motor is all adopted in propelling unit (16), (17), (19), (20), and its operating voltage is 0-20V, and rotating speed is 0-650rpm, and can produce maximum thrust is 1.1Kg.
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| CNU2008201355222U CN201325591Y (en) | 2008-08-28 | 2008-08-28 | Radiation resistant underwater monitoring robot |
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| CNU2008201355222U CN201325591Y (en) | 2008-08-28 | 2008-08-28 | Radiation resistant underwater monitoring robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN101234665B (en) * | 2008-03-03 | 2011-02-09 | 中国科学院光电技术研究所 | Small-size underwater observation robot |
| CN102530206A (en) * | 2012-02-15 | 2012-07-04 | 上海大学 | Differential attitude control system for unmanned autonomous underwater vehicles |
| CN101661804B (en) * | 2008-08-28 | 2012-08-29 | 国核电站运行服务技术有限公司 | Radiation resistant underwater monitoring robot |
| CN101794349B (en) * | 2010-02-09 | 2012-08-29 | 北京邮电大学 | Experimental system and method for augmented reality of teleoperation of robot |
| CN103425070A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Method for controlling shallow water observation-level mini underwater robot |
| CN103760909A (en) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | Control system of underwater detecting device |
| CN105468020A (en) * | 2015-12-29 | 2016-04-06 | 天津海之声科技有限公司 | Distributed control-based underwater robot system |
| CN106477008A (en) * | 2016-11-25 | 2017-03-08 | 哈尔滨工程大学 | A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform |
| CN107585280A (en) * | 2017-10-12 | 2018-01-16 | 上海遨拓深水装备技术开发有限公司 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
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- 2008-08-28 CN CNU2008201355222U patent/CN201325591Y/en not_active Expired - Lifetime
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101234665B (en) * | 2008-03-03 | 2011-02-09 | 中国科学院光电技术研究所 | Small-size underwater observation robot |
| CN101661804B (en) * | 2008-08-28 | 2012-08-29 | 国核电站运行服务技术有限公司 | Radiation resistant underwater monitoring robot |
| CN101794349B (en) * | 2010-02-09 | 2012-08-29 | 北京邮电大学 | Experimental system and method for augmented reality of teleoperation of robot |
| CN101797968A (en) * | 2010-03-29 | 2010-08-11 | 哈尔滨工程大学 | Open-shelf underwater detecting robot mechanism |
| CN102530206A (en) * | 2012-02-15 | 2012-07-04 | 上海大学 | Differential attitude control system for unmanned autonomous underwater vehicles |
| CN103425070A (en) * | 2013-08-15 | 2013-12-04 | 青岛远创机器人自动化有限公司 | Method for controlling shallow water observation-level mini underwater robot |
| CN103760909A (en) * | 2014-01-23 | 2014-04-30 | 河海大学常州校区 | Control system of underwater detecting device |
| CN105468020A (en) * | 2015-12-29 | 2016-04-06 | 天津海之声科技有限公司 | Distributed control-based underwater robot system |
| CN106477008A (en) * | 2016-11-25 | 2017-03-08 | 哈尔滨工程大学 | A kind of three bodies streamlined AUTONOMOUS TASK underwater robot platform |
| CN107585280A (en) * | 2017-10-12 | 2018-01-16 | 上海遨拓深水装备技术开发有限公司 | A kind of quick dynamic positioning systems of ROV for being adapted to vertical oscillation current |
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