CN209394666U - A kind of device suitable for underwater narrow space crawl foreign matter - Google Patents
A kind of device suitable for underwater narrow space crawl foreign matter Download PDFInfo
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- CN209394666U CN209394666U CN201822158845.XU CN201822158845U CN209394666U CN 209394666 U CN209394666 U CN 209394666U CN 201822158845 U CN201822158845 U CN 201822158845U CN 209394666 U CN209394666 U CN 209394666U
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Abstract
The utility model belongs to underwater complex space foreign body grabbing technical field, more particularly to a kind of device suitable for underwater narrow space crawl foreign matter, it is characterised in that: it includes support mobile mechanism, long rod tool, underwater foreign matter catching robot, control system, underwater luminaire and underwater camera；Support mobile mechanism is fixedly connected with the upper end of long rod tool, can move along horizontal and vertical direction；The lower end of long rod tool is fixedly connected with the upper end of underwater foreign matter catching robot, for sending underwater foreign matter catching robot to lower core plate；Control system passes through cable respectively and connect with underwater foreign matter catching robot, underwater luminaire and underwater camera, according to the movement for the image control underwater foreign matter catching robot that underwater luminaire and underwater camera are shot；Underwater luminaire and underwater camera are arranged below lower core plate, for monitoring the work of underwater foreign matter catching robot.
Description
Technical field
The utility model belongs to underwater complex space foreign body grabbing technical field, and in particular to one kind is suitable for underwater narrow
The device of space crawl foreign matter.
Background technique
Nuclear power plant has foreign matter often during operation or maintenance and falls into pond；Some foreign matters, which can be fallen, to be compared
Above narrow space, such as core support plate, which is the space of a relative closure, once there is foreign matter entrance, it can only
When reloading after upper-part in-reactor component and fuel assembly are hung out, foreign body grabbing tool is protruded into out of hole in lower core plate by
Foreign body.If these foreign matters are removed, very big risk will be brought to unit safety operation.It is different that these are removed in time
Object is even more important to reducing water body dosage and ensureing that nuclear power operational safety seems.Domestic nuclear power plant generallys use conventional foreign matter and grabs
Tool is taken to pick up these foreign matters, but due to being limited by space, the reasons such as conventional tool accessibility is poor, can not be accurately positioned,
Effectively the foreign matter in the region cannot be removed.
A kind of device range coverage suitable for underwater narrow space crawl foreign matter of the present invention can effectively cover reactor core branch
Board upper surface, and can be accurately positioned, it can adapt to the environment in the region, will can effectively be deposited on core support plate upper surface
Foreign matter remove.
Utility model content
The technical problem to be solved by the present invention is to provide it is a kind of suitable for underwater narrow space crawl foreign matter device,
It can solve that conventional foreign body grabbing tool accessibility is poor, can not cover core support plate upper surface comprehensively, during grabbing foreign matter
The problem of tool can not be accurately positioned, and cannot effectively remove the foreign matter of core support plate upper surface.
The utility model is realized in this way:
A kind of device suitable for underwater narrow space crawl foreign matter, including it is support mobile mechanism, long rod tool, underwater different
Object catching robot, control system, underwater luminaire and underwater camera；The upper end of support mobile mechanism and long rod tool is fixed
Connection, can move along horizontal and vertical direction；The lower end of long rod tool is fixedly connected with the upper end of underwater foreign matter catching robot,
For sending underwater foreign matter catching robot to lower core plate；Control system passes through cable respectively and underwater foreign matter crawl is mechanical
Hand, underwater luminaire are connected with underwater camera, and the image control shot according to underwater luminaire and underwater camera is underwater different
The movement of object catching robot；Underwater luminaire and underwater camera are arranged below lower core plate, for monitoring underwater foreign matter
The work of catching robot.
Underwater foreign matter catching robot as described above includes multi-joint mechanical arm, positioning device, the first sealing ring, foreign matter
Catching robot cabinet, rotating mechanism, rotating mechanical arm, emergency driving connector, emergency driving tool, the second sealing ring and lifting
Mechanism；The cylindrical of foreign body grabbing manipulator cabinet integral hollow offers through-hole in upper and lower end face center；Whirler
The lower end of tool arm is located at foreign body grabbing manipulator box house, and the upper surface through-hole that upper end passes through foreign body grabbing manipulator cabinet is stretched
It is coaxial with long rod tool and be located inside long rod tool out to outside cabinet；Rotating mechanical arm is arranged in emergency driving connector
Upper end center position, for being matched with emergency driving tool；Second sealing ring is arranged in rotating mechanical arm and foreign body grabbing machine
Between tool hand cabinet, for being sealed to gap between the two, prevent outside liquid from entering foreign body grabbing manipulator cabinet
It is internal；Rotating mechanism is mounted on the lower end of rotating mechanical arm, for realizing the rotation of multi-joint mechanical arm；Elevating mechanism is fixed on
It on the inner wall of foreign body grabbing manipulator cabinet, while being matched with rotating mechanism, under the drive of elevating mechanism, multi-joint is mechanical
Arm, rotating mechanical arm and rotating mechanism can move along a straight line up and down；The upper end of multi-joint mechanical arm is located at foreign body grabbing manipulator case
Internal portion, is fixedly connected with rotating mechanism, and lower end passes through foreign body grabbing manipulator cabinet lower end surface through-hole and positioning device, enters
The lower section of lower core plate；First sealing ring is arranged between multi-joint mechanical arm and foreign body grabbing manipulator cabinet, for two
Gap between person is sealed, and prevents outside liquid from entering foreign body grabbing manipulator box house；The lower end of positioning device is solid
It is scheduled on a hole of lower core plate, upper end is fixedly connected with foreign body grabbing manipulator cabinet.
Positioning device generally circular ring shape as described above, is divided into inner ring and outer rings, and the height of outer ring is less than the height of inner ring
Degree；The upper end of positioning device inner ring offers through-hole, is used for across multi-joint mechanical arm, and lower end is provided with taper guide frame,
For being directed at lower reactor core plate hole；The upper end closed of positioning device outer ring, lower end is open, for accommodating fuel assembly positioning pin, keeps away
Exempt to interfere between fuel assembly positioning pin；When in running order, lower core plate is protruded into the inner ring lower end of positioning device
Inside hole, outer ring lower end surface is fitted closely with lower core plate upper surface.
Elevating mechanism as described above includes linear moving module, elevating mechanism sliding block, lifting motor and elevating mechanism branch
Frame；Elevating mechanism bracket is fixedly connected with foreign body grabbing manipulator cabinet, for providing support to elevating mechanism；Move along a straight line mould
Block is arranged along the vertical direction, is fixed on elevating mechanism bracket；Slideway is provided in linear moving module, for being elevator
The sliding of structure sliding block provides motion path；Elevating mechanism sliding block is arranged on the slideway of linear moving module, with linear motion mould
Block is slidably connected, for driving multi-joint mechanical arm, rotating mechanical arm and rotating mechanism to move up and down；Lifting motor is fixed on liter
It on descending mechanism bracket, is connect with elevating mechanism sliding block, drives the movement of elevating mechanism sliding block.
Rotating mechanism as described above is integrally attached on the elevating mechanism sliding block of elevating mechanism, including belt, the first skin
Belt wheel, the second belt pulley and rotating electric machine；The output end of rotating electric machine is fixedly connected with the first belt pulley；First belt pulley passes through
Belt realizes transmission, to drive the rotation of the second belt pulley；Multi-joint mechanical arm is fixed on the lower end of the second belt pulley, passes through
The rotation of two belt pulleys drives multi-joint mechanical arm to rotate around own axes.
Emergency driving connector as described above is polygon connector；The emergency driving tool is generally rod-shaped, lower end
Polygonal grooves are provided with, for driving emergency driving connector to rotate, so as to adjust the swing angle of multi-joint mechanical arm.
Multi-joint mechanical arm, positioning device, foreign body grabbing manipulator cabinet, rotating mechanism, rotating machinery as described above
Arm, emergency driving connector, emergency driving tool and elevating mechanism are all made of stainless steel or aluminum alloy materials are made；First sealing ring
Rubber material is all made of with the second sealing ring to be made.
Control system as described above is realized using PC machine.
The beneficial effects of the utility model are:
It can clearly be observed that the location of foreign matter by underwater lighting and camera system.By adjusting support movement
Manipulator can be put into above lower core plate by mechanism.Selected in lower core plate according to the position of foreign matter suitable hole as
The channel of multi-joint mechanical arm when foreign body grabbing.By adjust support mobile mechanism can position to manipulator horizontal direction it is real
It now finely tunes, foreign body grabbing manipulator can be positioned in hole, be landed in lower reactor core by the positioning device on foreign body grabbing manipulator
On plate, the special construction of positioning device ensure that take a seat during can be avoided and fuel assembly in lower core plate positions
Pin, nut of upper extension pipe etc. interfere.By selecting suitable hole as channel in lower core plate, multi-joint is mechanical
It can guarantee to cover core support plate upper surface comprehensively in the horizontal plane after arm swing, rotation.Multi-joint is adjusted in elevating mechanism
The position in vertical direction of mechanical arm, when grabbing foreign matter, manipulator can be at suitable height, in the mistake that manipulator lifts
Mechanical paw does not collide with core support plate in journey.Adjusting swing mechanism can make multi-joint mechanical arm become vertical state,
Foreign body grabbing manipulator is taken out from the in-pile component of lower part.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of device suitable for underwater narrow space crawl foreign matter of the utility model；
Fig. 2 is the structural schematic diagram of the underwater foreign matter catching robot of the utility model；
Fig. 3 is the structural schematic diagram of the positioning device of the utility model；
Fig. 4 is the working state figure of the positioning device of the utility model；
Fig. 5 is the structural schematic diagram of the elevating mechanism of the utility model；
Fig. 6 is the structural schematic diagram of the rotating mechanism of the utility model.
Wherein: 1. support mobile mechanisms, 2. long rod tools, 3. underwater foreign matter catching robots, 4. control systems, 5. is underwater
Headlamp, 6. underwater cameras, 7. multi-joint mechanical arms, 8. positioning devices, 9. first sealing rings, 10. foreign body grabbing manipulators
Cabinet, 11. rotating mechanisms, 12. rotating mechanical arms, 13. emergency driving connectors, 14. emergency driving tools, 15. second sealing rings,
16. belt, 17. elevating mechanisms, 18. positioning pins evacuation area, 19. guide frames, 20. linear moving modules, 21. elevating mechanisms are sliding
Block, 22. lifting motors, 23. elevating mechanism brackets, 24. first belt pulleys, 25. second belt pulleys, 26. rotating electric machines.
Specific embodiment
The utility model is described further with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of device suitable for underwater narrow space crawl foreign matter, including support mobile mechanism 1, stock
Tool 2, underwater foreign matter catching robot 3, control system 4, underwater luminaire 5 and underwater camera 6.Support mobile mechanism 1 with
The upper end of long rod tool 2 is fixedly connected, and stock can also be made to go up and down in vertical direction and transported along stock is moved in the horizontal direction
It is dynamic.The lower end of long rod tool 2 is fixedly connected with the upper end of underwater foreign matter catching robot 3, under the action of supporting mobile mechanism
Underwater foreign matter catching robot 3 can be sent to lower core plate.Control system 4 is mechanical by cable and underwater foreign matter crawl respectively
Hand 3, underwater luminaire 5 and underwater camera 6 connect, and control water according to the image that underwater luminaire 5 and underwater camera 6 are shot
The movement of lower foreign body grabbing manipulator 3.Underwater luminaire 5 and underwater camera 6 are arranged below lower core plate, for monitoring water
The work of lower foreign body grabbing manipulator 3.
As shown in Fig. 2, the underwater foreign matter catching robot 3 is close including multi-joint mechanical arm 7, positioning device 8, first
Seal 9, foreign body grabbing manipulator cabinet 10, rotating mechanism 11, rotating mechanical arm 12, emergency driving connector 13, emergency driving work
Have the 14, second sealing ring 15 and elevating mechanism 17.The cylindrical of 10 integral hollow of foreign body grabbing manipulator cabinet, in upper and lower side
Face center offers through-hole.The lower end of rotating mechanical arm 12 is located inside foreign body grabbing manipulator cabinet 10, and upper end passes through
The upper surface through-hole of foreign body grabbing manipulator cabinet 10 reaches outside cabinet, is fixedly connected with long rod tool 2.Emergency driving connects
First 13 are arranged in the upper end center position for turning mechanical arm 12, for matching with emergency driving tool 14.Second sealing ring 15 is set
It sets between rotating mechanical arm 12 and foreign body grabbing manipulator cabinet 10, for being sealed to gap between the two, prevents
Outside liquid enters inside foreign body grabbing manipulator cabinet 10.Rotating mechanism 11 is mounted on the lower end of rotating mechanical arm 12, is used for
Realize the rotation of multi-joint mechanical arm 7.Elevating mechanism 17 is fixed on the inner wall of foreign body grabbing manipulator cabinet 10, at the same with rotation
Rotation mechanism 11 matches, and under the drive of elevating mechanism 17, multi-joint mechanical arm 7, rotating mechanical arm 12 and rotating mechanism 11 can
Linear motion up and down.The upper end of multi-joint mechanical arm 7 is located inside foreign body grabbing manipulator cabinet 10, fixed with rotating mechanism 11
Connection, lower end passes through 10 lower end surface through-hole of foreign body grabbing manipulator cabinet and positioning device 8, into the lower section of lower core plate.The
One sealing ring 9 be arranged between multi-joint mechanical arm 7 and foreign body grabbing manipulator cabinet 10, for gap between the two into
Row sealing, prevents outside liquid from entering inside foreign body grabbing manipulator cabinet 10.The lower end of positioning device 8 is fixed on lower core plate
A hole on, upper end is fixedly connected with foreign body grabbing manipulator cabinet 10.
As shown in Figure 3 and Figure 4, the generally circular ring shape of positioning device 8, is divided into inner ring and outer rings, the height of outer ring
Less than the height of inner ring.The upper end of 8 inner ring of positioning device offers through-hole, for across multi-joint mechanical arm 7, lower end to be provided with
Taper guide frame 19, for being directed at lower reactor core plate hole.The upper end closed of 8 outer ring of positioning device, lower end is open, for accommodating combustion
Expect component positioning pin, avoids interfering between fuel assembly positioning pin.When in running order, the inner ring of positioning device 8
Lower end is protruded into inside lower reactor core plate hole, and outer ring lower end is fitted closely with lower core plate upper end.
As shown in figure 5, the elevating mechanism 17 includes linear moving module 20, elevating mechanism sliding block 21, lifting motor
22 and elevating mechanism bracket 23.Elevating mechanism bracket 23 is fixedly connected with foreign body grabbing manipulator cabinet 10, for elevator
Structure provides support.Linear moving module 20 is arranged along the vertical direction, is fixed on elevating mechanism bracket 23.In linear moving module
Slideway is provided on 20, for providing motion path for the sliding of elevating mechanism sliding block 21.Elevating mechanism sliding block 21 is arranged straight
It on the slideway of line motion module 20, is slidably connected with linear moving module 20, for driving multi-joint mechanical arm 7, rotating machinery
Arm 12 and rotating mechanism 11 move up and down.Lifting motor 22 is fixed on elevating mechanism bracket 23, is connected with elevating mechanism sliding block 21
It connects, drives the movement of elevating mechanism sliding block 21.
As shown in fig. 6, the rotating mechanism 11 is integrally attached on the elevating mechanism sliding block 21 of elevating mechanism 17, including
Belt 16, the first belt pulley 24, the second belt pulley 25 and rotating electric machine 26.The output end of rotating electric machine 26 and the first belt pulley 24
It is fixedly connected.First belt pulley 24 realizes transmission by belt 16, to drive the rotation of the second belt pulley 25.Multi-joint mechanical arm
7 are fixed on the lower end of the second belt pulley 25, drive multi-joint mechanical arm 7 to revolve around own axes by the rotation of the second belt pulley 25
Turn.
The emergency driving connector 13 is shape changeable connector.The emergency driving tool 14 is generally rod-shaped, lower end
Polygonal grooves are provided with, for driving emergency driving connector 13 to rotate.The multi-joint mechanical arm 7 uses existing apparatus.
In the present embodiment, the multi-joint mechanical arm 7, positioning device 8, foreign body grabbing manipulator cabinet 10, rotation
Mechanism 11, rotating mechanical arm 12, emergency driving connector 13, emergency driving tool 14 and elevating mechanism 17 are all made of stainless steel or aluminium
Alloy material is made.First sealing ring 9 and the second sealing ring 15 are all made of rubber material and are made.
The control system 4 is realized using PC machine.
The working principle of the utility model is as follows:
Support mobile mechanism is mounted on the suitable position on nuclear island refueling machine guardrail right above reactor core when use by step 1；
Step 2 will be got up between foreign body grabbing manipulator and control system by cable connection；
Step 3 connects long rod tool and foreign body grabbing manipulator, then by long rod tool mounted in support moving machine
On structure；
Step 4 connects underwater lighting etc. and underwater camera with control system, is put into underwater suitable position；
Step 5 finds foreign matter behind the position on reactor core restraints' plate by underwater camera, in lower core plate
A hole is selected to penetrate channel as foreign body grabbing manipulator multi-joint mechanical arm；
Foreign body grabbing manipulator is sent into water near lower core plate top, in water by step 6, operation support mobile mechanism
Under the auxiliary of lower camera, the bottom of multi-joint mechanical arm is moved to right above selected hole by support mobile mechanism；
Step 7 slowly declines foreign body grabbing manipulator, multi-joint mechanical arm is made to gradually pass through lower core plate, until positioning
The guide frame of guiding device passes through lower core plate, and location structure is located in lower core plate.Pay attention to adjusting during decline
The swing angle of multi-joint mechanical arm avoids gripper and core support plate lower surface or other component on multi-joint mechanical arm from sending out
Raw collision.
Step 8, by operation control system, adjusts swing angle, the rotation of multi-joint mechanical arm under the auxiliary of camera
The rotational angle of rotation mechanism and the height of elevating mechanism, foreign body grabbing hand is grabbed above foreign matter, gripper is then opened.
Multi-joint mechanical arm is dropped to proper height by elevating mechanism by step 9, and foreign matter is grabbed in then gripper gathering
It rises.After the completion of crawl, foreign body grabbing manipulator is slowly lifted, the angle of oscillation of multi-joint mechanical arm is gradually adjusted during lifting
Degree, becomes vertical state, to be passed through lower core plate.Finally foreign matter is placed into specified container.
Step 10 is damaged if there is the oscillating motor of multi-joint mechanical arm during foreign body grabbing or other is asked
It the case where topic, multi-joint mechanical arm can not be restored to vertical state, can not take out so as to cause foreign body grabbing manipulator, can will answer
Anxious driving instrument is connect with emergency driving connector, then rotates manually multi-joint mechanical arm being restored to vertical state, foreign matter
Catching robot takes out.
It is explained in detail above in conjunction with implementation method of the embodiment to utility model, but utility model is not limited to
Embodiment is stated, within the knowledge of a person skilled in the art, the utility model aims can also not departed from
Under the premise of various changes can be made.The content being not described in detail in the utility model specification can use the prior art.
Claims (8)
1. it is a kind of suitable for underwater narrow space crawl foreign matter device, it is characterised in that: it include support mobile mechanism (1),
Long rod tool (2), underwater foreign matter catching robot (3), control system (4), underwater luminaire (5) and underwater camera (6)；Branch
Support mobile mechanism (1) is fixedly connected with the upper end of long rod tool (2), can be moved in the horizontal direction；The lower end of long rod tool (2) with
The upper end of underwater foreign matter catching robot (3) is fixedly connected, for sending underwater foreign matter catching robot (3) to lower core plate
Place；Control system (4) passes through cable and underwater foreign matter catching robot (3), underwater luminaire (5) and underwater camera respectively
(6) it connects, underwater foreign matter catching robot (3) is controlled according to the image that underwater luminaire (5) and underwater camera (6) are shot
Movement；Underwater luminaire (5) and underwater camera (6) are arranged below lower core plate, mechanical for monitoring underwater foreign matter crawl
The work of hand (3).
2. the device according to claim 1 suitable for underwater narrow space crawl foreign matter, it is characterised in that: the water
Lower foreign body grabbing manipulator (3) includes multi-joint mechanical arm (7), positioning device (8), the first sealing ring (9), foreign body grabbing machinery
Hand cabinet (10), rotating mechanism (11), rotating mechanical arm (12), emergency driving connector (13), emergency driving tool (14), second
Sealing ring (15) and elevating mechanism (17)；The cylindrical of foreign body grabbing manipulator cabinet (10) integral hollow, in upper and lower end face
Center offers through-hole；The lower end of rotating mechanical arm (12) is located at foreign body grabbing manipulator cabinet (10) inside, and upper end is worn
The upper surface through-hole for crossing foreign body grabbing manipulator cabinet (10) reaches outside cabinet, is fixedly connected with long rod tool (2)；Emergency
Drive sub (13) setting is in the upper end center position for turning mechanical arm (12), for matching with emergency driving tool (14)；The
Two sealing rings (15) are arranged between rotating mechanical arm (12) and the foreign body grabbing manipulator cabinet (10), between the two
Gap is sealed, and prevents outside liquid from entering foreign body grabbing manipulator cabinet (10) internal；Rotating mechanism (11) is mounted on rotation
Turn the lower end of mechanical arm (12), for realizing the rotation of multi-joint mechanical arm (7)；Elevating mechanism (17) is fixed on foreign body grabbing machine
On the inner wall of tool hand cabinet (10), while being matched with rotating mechanism (11), under the drive of elevating mechanism (17), multi-joint machine
Tool arm (7), rotating mechanical arm (12) and rotating mechanism (11) can move along a straight line up and down；The upper end of multi-joint mechanical arm (7) is located at
Foreign body grabbing manipulator cabinet (10) is internal, is fixedly connected with rotating mechanism (11), and lower end passes through foreign body grabbing manipulator cabinet
(10) lower end surface through-hole and positioning device (8), into the lower section of lower core plate；First sealing ring (9) setting is in multi-joint machinery
Between arm (7) and foreign body grabbing manipulator cabinet (10), for being sealed to gap between the two, prevent outside liquid into
It is internal to enter foreign body grabbing manipulator cabinet (10)；The lower end of positioning device (8) is fixed on a hole of lower core plate, upper end with
Foreign body grabbing manipulator cabinet (10) is fixedly connected.
3. the device according to claim 2 suitable for underwater narrow space crawl foreign matter, it is characterised in that: described determines
Position device (8) generally circular ring shape, is divided into inner ring and outer rings, and the height of outer ring is less than the height of inner ring；Positioning device (8) inner ring
Upper end offer through-hole, for across multi-joint mechanical arm (7), lower end is provided with taper guide frame (19), for being aligned
Lower reactor core plate hole；The upper end closed of positioning device (8) outer ring, lower end is open, for accommodating fuel assembly positioning pin, avoiding and firing
It is interfered between material component positioning pin；When in running order, the inner ring lower end of positioning device (8) is protruded into lower reactor core plate hole
Portion, outer ring lower end are fitted closely with lower core plate upper end.
4. the device according to claim 2 suitable for underwater narrow space crawl foreign matter, it is characterised in that: the liter
Descending mechanism (17) includes linear moving module (20), elevating mechanism sliding block (21), lifting motor (22) and elevating mechanism bracket
(23)；Elevating mechanism bracket (23) is fixedly connected with foreign body grabbing manipulator cabinet (10), for providing support to elevating mechanism；
Linear moving module (20) is arranged along the vertical direction, is fixed on elevating mechanism bracket (23)；On linear moving module (20)
It is provided with slideway, for providing motion path for the sliding of elevating mechanism sliding block (21)；Elevating mechanism sliding block (21) is arranged straight
It on the slideway of line motion module (20), is slidably connected with linear moving module (20), for driving multi-joint mechanical arm (7), rotation
Turn mechanical arm (12) and rotating mechanism (11) moves up and down；Lifting motor (22) is fixed on elevating mechanism bracket (23), with liter
Descending mechanism sliding block (21) connection, drives the movement of elevating mechanism sliding block (21).
5. the device according to claim 4 suitable for underwater narrow space crawl foreign matter, it is characterised in that: the rotation
Rotation mechanism (11) is integrally attached on the elevating mechanism sliding block (21) of elevating mechanism (17), including belt (16), the first belt pulley
(24), the second belt pulley (25) and rotating electric machine (26)；The output end and the first belt pulley (24) of rotating electric machine (26) are fixed to be connected
It connects；First belt pulley (24) realizes transmission by belt (16), to drive the second belt pulley (25) rotation；Multi-joint mechanical arm
(7) it is fixed on the lower end of the second belt pulley (25), drives multi-joint mechanical arm (7) around certainly by the rotation of the second belt pulley (25)
Body axis rotation.
6. the device according to claim 2 suitable for underwater narrow space crawl foreign matter, it is characterised in that: described answers
Anxious drive sub (13) is polygon connector；The emergency driving tool (14) is generally rod-shaped, and lower end is provided with polygon
Groove, for driving emergency driving connector (13) to rotate.
7. the device according to claim 2 suitable for underwater narrow space crawl foreign matter, it is characterised in that: described is more
Articulated mechanical arm (7), positioning device (8), foreign body grabbing manipulator cabinet (10), rotating mechanism (11), rotating mechanical arm (12),
Emergency driving connector (13), emergency driving tool (14) and elevating mechanism (17) are all made of stainless steel material and are made；First sealing
Circle (9) and the second sealing ring (15) are all made of rubber material and are made.
8. the device according to claim 2 suitable for underwater narrow space crawl foreign matter, it is characterised in that: the control
System (4) processed is realized using PC machine.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822158845.XU CN209394666U (en) | 2018-12-21 | 2018-12-21 | A kind of device suitable for underwater narrow space crawl foreign matter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822158845.XU CN209394666U (en) | 2018-12-21 | 2018-12-21 | A kind of device suitable for underwater narrow space crawl foreign matter |
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| CN209394666U true CN209394666U (en) | 2019-09-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366481A (en) * | 2018-12-21 | 2019-02-22 | 核动力运行研究所 | A kind of device suitable for underwater narrow space crawl foreign matter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109366481A (en) * | 2018-12-21 | 2019-02-22 | 核动力运行研究所 | A kind of device suitable for underwater narrow space crawl foreign matter |
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