CN206520734U - 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
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- CN206520734U CN206520734U CN201621483492.5U CN201621483492U CN206520734U CN 206520734 U CN206520734 U CN 206520734U CN 201621483492 U CN201621483492 U CN 201621483492U CN 206520734 U CN206520734 U CN 206520734U
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- float assembly
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Abstract
The utility model is a kind of nuclear power plant's sucked type float assembly, is related to underwater robot art field.The utility model includes cylinder, universal ball bearing and sucker, and when float assembly is close to chamber wall progress translational motion, cylinder is stretched out, and than sucker more posteriorly, float assembly is translated close to chamber wall 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 utility model can realize that underwater ascent, dive, advance, retrogressing, left and right such as translate, are horizontally diverted at the three dimensionality motor function, possesses adsorbent equipment, it can be adsorbed during work on wall, it is ensured that the stabilization of pedestal, the work such as foreign matter salvaging, maintenance can be completed by carrying mechanical arm.The utility model is a kind of underwater robot dedicated for nuclear power plant, is mainly used in video check, foreign matter salvaging, maintenance of nuclear power plant's pressure vessel, refuelling pool, Spent Fuel Pool etc. etc..
Description
Technical field
The utility model is related to underwater robot art field, and in particular to a kind of nuclear power plant's sucked type float assembly.
Background technology
With nuclear power plant's run time increase, in-pile component, pressure vessel inner surface, the reloading trolley of pressurized water type reactor
Inwall is it is possible that some problems need to implement to check and maintenance.Because these positions be in intense radiation area, during shutdown inside fill
Full water, personnel are can not to be directly entered the region to be operated.The different instruments of underwater robot carrying must be developed and complete this
A little work.
Underwater robot is that one kind can be moved, with vision and sensory perceptual system, by remote control or autonomous operation side under water
Formula, and manipulator or other instruments can be used to replace or aid in 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 engineering, control theory, electricity
Dynamic servo servo technology, sensor technology, artificial intelligence theory, placement technology, Sealing Technology and airmanship are integrated
Complex art.At present, underwater robot is mainly used in marine field, such as oil exploitation, seabed mineral reserve investigation, salvage operation,
Pipeline laying and inspection, cable laying and inspection, mariculture etc..Administered and nuclear industry neck in rivers and lakes, city water channel
Also there is certain application in domain.But the volume and weight of this kind of underwater robot is all very big, price also costly, runs into equipment event
Barrier, maintenance cost is very big.Meanwhile, this kind of underwater robot does not do radiation proof processing, the work characteristics and ocean operation of nuclear power station
It is very different, therefore nuclear power station can not be directly applied to.
The content of the invention
The utility model provides a kind of nuclear power plant's sucked type float assembly, is a kind of underwater dedicated for nuclear power plant
People, is mainly used in video check, foreign matter salvaging, maintenance of nuclear power plant's pressure vessel, refuelling pool, Spent Fuel Pool etc. etc..
The technical solution of the utility model is：
A kind of nuclear power plant's sucked type float assembly, including it is mainframe, front camera, floating block, propeller, sucker, rearmounted
Camera, cylinder, universal ball bearing；
Mainframe generally hollow cube frame structure, floating block is fixedly mounted on mainframe, makes 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 motion, it is another
The motion of group propeller control float assembly 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 be pasted 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.
Also 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 equal automatic light source of front camera and rear camera.
The sucker has four, is symmetrically and fixedly mounted on mainframe.
The cylinder and universal ball bearing have four groups, are symmetrically and fixedly mounted on mainframe.
The beneficial effects of the utility model are：
The utility model can realize that underwater ascent, dive, advance, retrogressing, left and right the three dimensionality such as translates, are horizontally diverted and moving
Function, possesses adsorbent equipment, can be adsorbed during work on wall, it is ensured that the stabilization of pedestal, carry mechanical arm can complete foreign matter salvage,
The work such as maintenance.
Float assembly described in the utility model employs advanced float assembly translation and fixed form.Float assembly can be with
Carry out stable translational motion close to chamber wall, cylinder stretches out during translation, four universal ball bearings are fitted with chamber wall, by with
Propeller coordinates, and float assembly can be translated smoothly on the wall.Float assembly in place after, cylinder shrink, four suckers
It can be firmly adsorbed on chamber wall, float assembly can smoothly provide support when at this moment mechanical arm works.
Brief description of the drawings
Fig. 1 is front view of the present utility model.
Fig. 2 is side view of the present utility model.
Fig. 3 is rearview of the present utility model.
Fig. 4 is the utility model front schematic perspective view.
Fig. 5 is the utility model back side schematic perspective view.
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-,
Embodiment
The utility model is described further with reference to the accompanying drawings and examples.
Design core of the present utility model is advanced float assembly translation and fixed form.It is described in the utility model floating
Stable translational motion can be carried out close to chamber wall by swimming device, and cylinder 9 stretches out during translation, the position of four universal ball bearings 10
Than sucker 7 more posteriorly, so whole float assembly can just be translated close to chamber wall, and mobile stability is than alone propeller 6
More preferably；Float assembly in place after, cylinder 9 shrinks, four suckers 7 than universal ball bearing 10 position more posteriorly, sucker 7 can jail
Admittedly adsorb 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 have
When be difficult to be adjusted by propeller 6, the utility model is adsorbed on the chamber wall of working region using four suckers 7, energy
Enough realize fixation.
As shown in Figures 1 to 5, the utility model is a kind of nuclear power plant's sucked type float assembly, including mainframe 1, preposition
Camera 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 zero of float assembly described in the utility model
Part, floating block 3 is arranged on the top of mainframe 1, and is secured to connection, for balancing the underwater weight of whole float assembly,
It is neutral buoyancy in water to make float assembly.
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 constituted with mechanical arm 5, are neutral buoyancy state under water as the annex of float assembly.
Two groups of propellers 6 are installed on mainframe 1.One group is that four propellers 6 control float assembly in vertical direction
Motion, is symmetrically and fixedly mounted on mainframe 1, for float assembly up and down motion, under water pose adjustment.Another group is four and pushes away
Enter the motion of the control of device 6 float assembly in the horizontal direction, be 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 the front of mainframe 1, and with light source, is used
In front portion observation, the work monitoring of mechanical arm 5 is also used for.Rear camera 8 is fixedly mounted on the back side of mainframe 1, and band light source is used for
Observe at rear portion.
Sucker 7 has four, is symmetrically and fixedly mounted to the back side of mainframe 1.When mechanical arm 5 works, the weight of float assembly
The heart can change, and be sometimes difficult to be adjusted by propeller 6, the utility model adsorbs four suckers 7 in working region
Chamber wall on so that float assembly fixation.
Cylinder 9 and universal ball bearing 10 have 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, whole float assembly can just be translated close to chamber wall, and mobile stability is more preferable than alone propeller 6；Float assembly
After in place, cylinder 9 shrinks, 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 described in the utility model is put into water, by controlling eight propellers 6 to control the dress that swims
Put and move to working region, fortune fortune process can observe feelings before and after float assembly by front camera 2 and rear camera 8
Condition.Cylinder 9 is stretched out, than sucker 7 more posteriorly, so whole float assembly just can be close to for the position of four universal ball bearings 10
Chamber wall is translated.Float assembly in place after, cylinder 9 shrinks, four suckers 7 than universal ball bearing 10 position more posteriorly, sucker 7
Can with sucker on chamber wall, such float assembly just can fixation, now mechanical arm 5 can just go to perform operation.
Embodiment of the present utility model is explained in detail above, above-mentioned embodiment is only of the present utility model optimal
Embodiment, but the utility model is not limited to above-described embodiment, the knowledge possessed in those of ordinary skill in the art
It is interior, it can also be made a variety of changes on the premise of the utility model objective is not departed from.
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) is fixedly mounted on mainframe (1), makes float assembly
It is neutral buoyancy in water；
Two groups of propellers (6) are installed, one group of propeller (6) controls float assembly in the motion of vertical direction on mainframe (1),
The motion of another group of propeller (6) control float assembly 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 be translated disk (7) close to chamber wall；When cylinder (9) shrinks, 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 claimed in claim 1, it is characterised in that：Also 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 claimed 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 claimed 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 claimed in claim 1, it is characterised in that：The front camera (2)
With rear camera (8) automatic light source.
6. a kind of nuclear power plant's sucked type float assembly as claimed in claim 1, it is characterised in that：The sucker (7) has four
It is individual, it is symmetrically and fixedly mounted on mainframe (1).
7. a kind of nuclear power plant's sucked type float assembly as claimed in claim 1, it is characterised in that：The cylinder (9) and universal
Ball bearing (10) has four groups, is symmetrically and fixedly mounted on mainframe (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621483492.5U CN206520734U (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 |
|---|---|---|---|
| CN201621483492.5U CN206520734U (en) | 2016-12-30 | 2016-12-30 | A kind of nuclear power plant's sucked type float assembly |
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| CN206520734U true CN206520734U (en) | 2017-09-26 |
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ID=59889106
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| CN201621483492.5U Active CN206520734U (en) | 2016-12-30 | 2016-12-30 | A kind of nuclear power plant's sucked type float assembly |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108189988A (en) * | 2018-01-03 | 2018-06-22 | 中广核核电运营有限公司 | Nuclear power station underwater foreign matter handling machine people |
| CN108213895A (en) * | 2017-12-07 | 2018-06-29 | 中广核检测技术有限公司 | The underwater more changing device of nuclear power station coaming plate bolt |
| CN108263573A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | A kind of nuclear power plant's sucked type float assembly |
| CN108313240A (en) * | 2018-01-03 | 2018-07-24 | 中广核核电运营有限公司 | Nuclear power station submerged condition inspection machine people |
| CN109015752A (en) * | 2018-08-13 | 2018-12-18 | 东莞市凯勒帝数控科技有限公司 | A kind of underwater fixed point bondage fixing joint monitoring stake of underwater robot |
-
2016
- 2016-12-30 CN CN201621483492.5U patent/CN206520734U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108263573A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | A kind of nuclear power plant's sucked type float assembly |
| CN108213895A (en) * | 2017-12-07 | 2018-06-29 | 中广核检测技术有限公司 | The underwater more changing device of nuclear power station coaming plate bolt |
| CN108189988A (en) * | 2018-01-03 | 2018-06-22 | 中广核核电运营有限公司 | Nuclear power station underwater foreign matter handling machine people |
| CN108313240A (en) * | 2018-01-03 | 2018-07-24 | 中广核核电运营有限公司 | Nuclear power station submerged condition inspection machine people |
| CN109015752A (en) * | 2018-08-13 | 2018-12-18 | 东莞市凯勒帝数控科技有限公司 | A kind of underwater fixed point bondage fixing joint monitoring stake of underwater robot |
| CN109015752B (en) * | 2018-08-13 | 2021-10-08 | 东莞市凯勒帝数控科技有限公司 | Underwater fixed point binding and fixing combined monitoring pile of underwater robot |
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