CN209665377U - A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation - Google Patents
A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation Download PDFInfo
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- CN209665377U CN209665377U CN201822159789.1U CN201822159789U CN209665377U CN 209665377 U CN209665377 U CN 209665377U CN 201822159789 U CN201822159789 U CN 201822159789U CN 209665377 U CN209665377 U CN 209665377U
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Abstract
The utility model belongs to underwater complex space foreign body grabbing technical field, more particularly to a kind of multi-joint mechanical arm structure suitable for underwater narrow space operation, purpose is to solve the problem of that conventional foreign body grabbing tool can not cover core support plate upper surface comprehensively and cannot effectively remove the foreign matter of core support plate upper surface.It is characterized by: it includes first segment mechanical arm, the first pin shaft, the second section mechanical arm, the second pin shaft and third section mechanical arm；Second section mechanical arm is located at the lower section of first segment mechanical arm, and first segment mechanical arm is hinged by the first pin shaft with the second section mechanical arm；Third section mechanical arm is located at the lower section of the second section mechanical arm, and the second section mechanical arm is hinged by the second pin shaft with third section mechanical arm.
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 multi-joint mechanical arm structure of job space.
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 multi-joint mechanical arm structure range coverage suitable for underwater narrow space operation of the present invention can effectively be covered
Core support plate upper surface is covered, the environment in the region is can adapt to, will can effectively be deposited on the foreign matter of core support plate upper surface
It removes.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of multi-joint machines suitable for underwater narrow space operation
Tool arm configuration, can solve conventional foreign body grabbing tool can not cover core support plate upper surface comprehensively, cannot be effectively by reactor core
The problem of foreign matter of support plate upper surface is removed.
The utility model is realized in this way:
A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation, including first segment mechanical arm, the first pin
Axis, the second section mechanical arm, the second pin shaft and third section mechanical arm；Second section mechanical arm is located at the lower section of first segment mechanical arm, the
One section mechanical arm is hinged by the first pin shaft with the second section mechanical arm；Third section mechanical arm is located at the second section mechanical arm
Lower section, the second section mechanical arm are hinged by the second pin shaft with third section mechanical arm.
First segment mechanical arm as described above includes driving motor, screw, motor connecting base, shaft coupling, first segment machinery
Arm inner shaft, first segment mechanical arm shell, first bevel gear, the first support ring, sealing ring and the first holding screw；Driving motor is logical
Screw is crossed to be fixed on motor connecting base；First segment mechanical arm inner shaft is connected to one by the output shaft of shaft coupling and driving motor
It rises；Motor connecting base is connected through a screw thread with first segment mechanical arm shell；First segment mechanical arm inner shaft penetrates first segment mechanical arm
In shell；First bevel gear is covered in first segment mechanical arm inner shaft lower end, and is embedded in the hole of first segment mechanical arm shell lower end, is led to
It crosses the first holding screw first bevel gear is fixed in first segment mechanical arm inner shaft；Outside first bevel gear and first segment mechanical arm
Frictional force is reduced by the first support ring between shell；Pass through the first sealing ring between first bevel gear and first segment mechanical arm shell
It is sealed.
Second section mechanical arm as described above includes second bevel gear, third hand tap gear, the 4th bevel gear, the second clamp screw
Nail, the second section mechanical arm shell, the second section mechanical arm inner shaft, the second support ring, the 5th bevel gear, third support ring and third are tight
Determine screw；For second bevel gear in the left side circular hole of the second section mechanical arm upper shell, third hand tap gear is mounted in the second section machine
In the right square hole of tool arm upper shell；Second section mechanical arm inner shaft penetrates in the second section mechanical arm shell；4th bevel gear dress
In the second section mechanical arm inner shaft upper end, the 4th bevel gear is fixed in the second section mechanical arm inner shaft by the second holding screw
End；4th bevel gear engages with second bevel gear, third hand tap gear simultaneously；4th bevel gear and the second section mechanical arm upper shell
Hole between be equipped with the second support ring to reduce frictional force；5th bevel gear is mounted in the lower end of the second section mechanical arm inner shaft, passes through
5th bevel gear is fixed on the second section mechanical arm inner shaft lower end by third holding screw；Outside 5th bevel gear and the second section mechanical arm
Third support ring is equipped between the hole of shell lower end to reduce frictional force.
Third section mechanical arm as described above include the 6th bevel gear, third section mechanical arm shell, cylinder, locking nut,
Gripper connector sleeve, nut, gripper push rod, third pin shaft, connecting rod, the 4th pin shaft, gripper and the 5th pin shaft；The installation of 6th bevel gear
In the square hole of third section mechanical arm upper shell；Cylinder is fixed on third section mechanical arm interior of shell；Gripper push rod passes through
Nut is fixed on the piston rod of cylinder；Gripper connector sleeve is covered in the outside of gripper push rod, and is fixed on by locking nut
On three section mechanical arm shells；Connecting rod is hinged on gripper connector sleeve lower end by third pin shaft；By the 4th pin shaft by gripper and company
Bar is hinged；It is by the 5th pin shaft that gripper and gripper push rod lower end is hinged.
First segment mechanical arm lower end and the second section mechanical arm upper end as described above are hinged together by the first pin shaft, and are protected
The first bevel gear of card first segment mechanical arm lower end is engaged with the second bevel gear of the second section mechanical arm upper end and third hand tap gear.
Second section mechanical arm lower end as described above and third section mechanical arm upper end are hinged together by the second pin shaft, and are protected
Demonstrate,prove the 5th bevel gear of the second section mechanical arm lower end and the 6th bevel gear engagement of third section mechanical arm upper end.
As described above first bevel gear, second bevel gear, third hand tap gear, the 4th bevel gear, the 5th bevel gear and the
Mode, pressure angle, the facewidth of six bevel gears are all the same, and the velocity of rotation and angular dimension of each gear are all the same.
As described above screw, motor connecting base, shaft coupling, first segment mechanical arm inner shaft, first segment mechanical arm shell, the
One bevel gear, the first holding screw, second bevel gear, third hand tap gear, the 4th bevel gear, the second holding screw, the second section machine
Tool arm shell, the second section mechanical arm inner shaft, the 5th bevel gear, third holding screw, the 6th bevel gear, outside third section mechanical arm
Shell, locking nut, gripper connector sleeve, nut, gripper push rod, third pin shaft, connecting rod, the 4th pin shaft, gripper and the 5th pin shaft are equal
It is made of stainless steel；First support ring, sealing ring, the second support ring and the third support ring uses rubber material
It is made.
The beneficial effects of the utility model are:
By the rotation of the rotate driving first segment mechanical arm inner shaft of driving motor, to drive the second section mechanical arm and the
The swing of three section mechanical arms, during swing third section mechanical arm always with first segment mechanical arm keeping parallelism.
Three section mechanical arms can straighten to linear state, thus in the narrow space where gripper to be sent into foreign matter；Multi-joint
The swing of mechanical arm realize adjustment gripper and first segment mechanical arm horizontal direction distance, thus by gripper be sent to foreign matter just on
Side.
The opening of gripper is driven by cylinder, collapses and realizes crawl foreign matter.
Detailed description of the invention
Fig. 1 is that a kind of structure of multi-joint mechanical arm structure suitable for underwater narrow space operation of the utility model is shown
It is intended to；
Fig. 2 is the sectional view along A-A of Fig. 1；
Fig. 3 is the B-B direction cross-sectional view of Fig. 1；
Fig. 4 is the partial enlarged view Ι of Fig. 1.
Wherein: 1. driving motors, 2. screws, 3. motor connecting bases, 4. shaft couplings, 5. first segment mechanical arm inner shafts, 6.
One section mechanical arm shell, 7. first bevel gears, 8. first support rings, 9. sealing rings, 10. first holding screws, 11. second cone teeth
It takes turns, 12. third hand tap gears, 13. first pin shafts, 14. the 4th bevel gears, 15. second holding screws, outside 16. second section mechanical arms
Shell, 17. second section mechanical arm inner shafts, 18. second support rings, 19. the 5th bevel gears, 20. third support rings, 21. third tightenings
Screw, 22. second pin shafts, 23. the 6th bevel gears, 24. third section mechanical arm shells, 25. cylinders, 26. locking nuts, 27. hands
Pawl connector sleeve, 28. nuts, 29. gripper push rods, 30. third pin shafts, 31. connecting rods, 32. the 4th pin shafts, 33. grippers, 34. the 5th
Pin shaft.
Specific embodiment
The utility model is described further with reference to the accompanying drawings and examples.
As shown in Figure 1, a kind of multi-joint mechanical arm structure suitable for underwater narrow space operation, including first segment are mechanical
Arm, the first pin shaft 13, the second section mechanical arm, the second pin shaft 22 and third section mechanical arm.Second section mechanical arm is located at first segment machine
The lower section of tool arm, first segment mechanical arm are hinged by the first pin shaft 13 with the second section mechanical arm.Third section mechanical arm position
In the lower section of the second section mechanical arm, the second section mechanical arm is hinged by the second pin shaft 22 with third section mechanical arm.
As depicted in figs. 1 and 2, the first segment mechanical arm includes driving motor 1, screw 2, motor connecting base 3, shaft coupling
Device 4, first segment mechanical arm inner shaft 5, first segment mechanical arm shell 6, first bevel gear 7, the first support ring 8, sealing ring 9 and first
Holding screw 10.Driving motor 1 is fixed on 3 on motor connecting base by screw 2；First segment mechanical arm inner shaft 5 passes through shaft coupling 4
It links together with the output shaft of driving motor 1；Motor connecting base 3 is connected through a screw thread with first segment mechanical arm shell 6；First
Section mechanical arm inner shaft 5 penetrates in first segment mechanical arm shell 6；7 sets of first bevel gear in 5 lower end of first segment mechanical arm inner shaft, and
It is embedded in the hole of 6 lower end of first segment mechanical arm shell, first bevel gear 7 is fixed on by first segment machine by the first holding screw 10
In tool arm inner shaft 5；Frictional force is reduced by the first support ring 8 between first bevel gear 7 and first segment mechanical arm shell 6；First
It is sealed between bevel gear 7 and first segment mechanical arm shell 6 by the first sealing ring 9.
As shown in Figures 2 and 3, the second section mechanical arm includes second bevel gear 11, third hand tap gear the 12, the 4th
Bevel gear 14, the second holding screw 15, the second section mechanical arm shell 16, the second section mechanical arm inner shaft 17, the second support ring 18,
Five bevel gears 19, third support ring 20 and third holding screw 21.Second bevel gear 11 is on the second section mechanical arm shell 16
In the left side circular hole at end, third hand tap gear 12 is in the right square hole of the second section mechanical arm upper shell；Second section mechanical arm
Inner shaft 17 penetrates in the second section mechanical arm shell 16；4th bevel gear 14 is mounted in 17 upper end of the second section mechanical arm inner shaft, by the
4th bevel gear 14 is fixed on 17 upper end of the second section mechanical arm inner shaft by two holding screws 15；4th bevel gear 14 and the second cone
Gear 11, third hand tap gear 12 engage；Second is equipped between the hole of 16 upper end of 4th bevel gear 14 and the second section mechanical arm shell
Support ring 18 is to reduce frictional force；5th bevel gear 19 is mounted in the lower end of the second section mechanical arm inner shaft 17, passes through third clamp screw
5th bevel gear 19 is fixed on 17 lower end of the second section mechanical arm inner shaft by nail 21；Outside 5th bevel gear 19 and the second section mechanical arm
Third support ring 20 is equipped between the hole of 16 lower end of shell to reduce frictional force.
As shown in Figure 3 and Figure 4, the third section mechanical arm include the 6th bevel gear 23, third section mechanical arm shell 24,
Cylinder 25, locking nut 26, gripper connector sleeve 27, nut 28, gripper push rod 29, third pin shaft 30, connecting rod 31, the 4th pin shaft
32, gripper 33 and the 5th pin shaft 34.6th bevel gear 23 is mounted in the square hole of 24 upper end of third section mechanical arm shell；Cylinder
25 are fixed on inside third section mechanical arm shell 24；Gripper push rod 29 is fixed on the piston rod of cylinder 25 by nut 28；Hand
27 sets of the pawl connector sleeve outsides in gripper push rod 29, and be fixed on third section mechanical arm shell 24 by locking nut 26；Even
Bar 31 is hinged on 27 lower end of gripper connector sleeve by third pin shaft 30；It is by the 4th pin shaft 32 that gripper 33 and connecting rod 31 is hinged
Together；It is by the 5th pin shaft 34 that gripper 33 and 29 lower end of gripper push rod is hinged.
The first segment mechanical arm lower end and the second section mechanical arm upper end is hinged together by the first pin shaft 13, and is guaranteed
The second bevel gear 11 and third hand tap gear 12 of the first bevel gear 7 of first segment mechanical arm lower end and the second section mechanical arm upper end
Engagement.
The second section mechanical arm lower end and third section mechanical arm upper end is hinged together by the second pin shaft 22, and is guaranteed
5th bevel gear 19 of the second section mechanical arm lower end and the 6th bevel gear 23 engagement of third section mechanical arm upper end.
This mechanical arm drives the rotation of first segment mechanical arm inner shaft 5 by driving motor 1, and first on first segment mechanical arm
Bevel gear 7 rotates synchronously with first segment mechanical arm inner shaft 5, drives the second bevel gear 11 and third cone of the second section mechanical arm upper end
Gear 12 rotates；Third hand tap gear 12 is connected with the second section mechanical arm shell 16 by square hole, to drive the second section mechanical arm
It is rotated with third hand tap gear 12 around the first pin shaft 13, that is, realizes the second section machinery arm swing；Second bevel gear 11 and
Third hand tap gear 12 drives the rotation of the 4th bevel gear 14 simultaneously, and the second section mechanical arm inner shaft 17 and the 5th bevel gear 19 are together with the 4th
Bevel gear 14 rotates synchronously；5th bevel gear 19 drives the 6th bevel gear 23 to rotate around the second pin shaft 22；6th bevel gear 23
It is connect by square hole with third section mechanical arm shell 24, so that third section mechanical arm is with the 6th bevel gear 23 around the second pin
Axis 22 rotates, that is, realizes the swing of third section mechanical arm, the swaying direction of third section mechanical arm and the second section machinery arm swing
It is contrary.
The first bevel gear 7, second bevel gear 11, third hand tap gear 12, the 4th bevel gear 14, the 5th bevel gear 19
It is all the same with the parameters such as mode, pressure angle, the facewidth of the 6th bevel gear 23, therefore the velocity of rotation and angular dimension of each gear
It is all the same.When second section mechanical arm is relative to first segment machinery arm swing, third section mechanical arm relative to the second section mechanical arm to
Opposite direction is swung, therefore third section mechanical arm and first segment mechanical arm keeping parallelism.
The stretching drive gripper push rod 29 of 25 piston rod of cylinder inside third section mechanical arm stretches out together opens gripper 33
It opens, 25 piston rod of cylinder, which is withdrawn, drives gripper push rod 29 to withdraw to collapse gripper 33 together.
In the present embodiment, the screw 2, motor connecting base 3, shaft coupling 4, first segment mechanical arm inner shaft 5, first segment
Mechanical arm shell 6, first bevel gear 7, the first holding screw 10, second bevel gear 11, third hand tap gear 12, the 4th bevel gear
14, the second holding screw 15, the second section mechanical arm shell 16, the second section mechanical arm inner shaft 17, the 5th bevel gear 19, third tightening
Screw 21, the 6th bevel gear 23, third section mechanical arm shell 24, locking nut 26, gripper connector sleeve 27, nut 28, gripper push away
Bar 29, third pin shaft 30, connecting rod 31, the 4th pin shaft 32, gripper 33 and the 5th pin shaft 34 are all made of stainless steel or aluminum alloy materials
It is made.First support ring 8, the second support ring 18 and the third support ring 20 is made of nylon material, and sealing ring 9 uses
Rubber material is made.
The working principle of the utility model is as follows:
Multi-joint mechanical arm is adjusted to linear state, into narrow space when grabbing foreign matter by step 1；
Step 2 adjusts the swing angle of mechanical arm by driving motor, is in gripper above foreign matter；
Gripper is opened by cylinder, adjusts the height of multi-joint mechanical arm, cover on gripper on foreign matter by step 3；
Step 4 makes gripper collapse crawl foreign matter by cylinder；
Multi-joint mechanical arm is adjusted to linear state by driving motor, and leaves narrow space by step 5, is completed different
Object crawl.
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 (7)
1. a kind of multi-joint mechanical arm structure suitable for underwater narrow space operation, it is characterised in that: it includes first segment machine
Tool arm, the first pin shaft (13), the second section mechanical arm, the second pin shaft (22) and third section mechanical arm；Second section mechanical arm is located at the
The lower section of one section mechanical arm, first segment mechanical arm are hinged by the first pin shaft (13) with the second section mechanical arm；Third section
Mechanical arm is located at the lower section of the second section mechanical arm, and the second section mechanical arm is hinged on third section mechanical arm by the second pin shaft (22)
Together.
2. the multi-joint mechanical arm structure according to claim 1 suitable for underwater narrow space operation, it is characterised in that:
The first segment mechanical arm includes driving motor (1), screw (2), motor connecting base (3), shaft coupling (4), first segment machinery
Arm inner shaft (5), first segment mechanical arm shell (6), first bevel gear (7), the first support ring (8), sealing ring (9) and the first tightening
Screw (10)；Driving motor (1) is fixed on motor connecting base (3) by screw (2)；First segment mechanical arm inner shaft (5) passes through
Shaft coupling (4) and the output shaft of driving motor (1) link together；Motor connecting base (3) and first segment mechanical arm shell (6) are logical
Cross threaded connection；First segment mechanical arm inner shaft (5) penetrates in first segment mechanical arm shell (6)；First bevel gear (7) is covered first
Mechanical arm inner shaft (5) lower end is saved, and is embedded in the hole of first segment mechanical arm shell (6) lower end, is passed through the first holding screw (10)
First bevel gear (7) is fixed in first segment mechanical arm inner shaft (5)；First bevel gear (7) and first segment mechanical arm shell (6)
Between by the first support ring (8) reduce frictional force；By the between first bevel gear (7) and first segment mechanical arm shell (6)
One sealing ring (9) is sealed.
3. the multi-joint mechanical arm structure according to claim 2 suitable for underwater narrow space operation, it is characterised in that:
The second section mechanical arm includes second bevel gear (11), third hand tap gear (12), the 4th bevel gear (14), the second clamp screw
Follow closely (15), the second section mechanical arm shell (16), the second section mechanical arm inner shaft (17), the second support ring (18), the 5th bevel gear
(19), third support ring (20) and third holding screw (21)；Second bevel gear (11) is mounted in the second section mechanical arm shell (16)
In the left side circular hole of upper end, third hand tap gear (12) is in the right square hole of the second section mechanical arm upper shell；Second section machine
Tool arm inner shaft (17) penetrates in the second section mechanical arm shell (16)；4th bevel gear (14) is mounted in the second section mechanical arm inner shaft (17)
4th bevel gear (14) is fixed on second section mechanical arm inner shaft (17) upper end by the second holding screw (15) by upper end；4th
Bevel gear (14) engages with second bevel gear (11), third hand tap gear (12)；Outside 4th bevel gear (14) and the second section mechanical arm
The second support ring (18) are equipped between the hole of shell (16) upper end to reduce frictional force；5th bevel gear (19) is mechanical mounted in the second section
5th bevel gear (19) is fixed on the second section mechanical arm inner shaft by third holding screw (21) by the lower end of arm inner shaft (17)
(17) lower end；Between 5th bevel gear (19) and the hole of second section mechanical arm shell (16) lower end be equipped with third support ring (20) with
Reduce frictional force.
4. the multi-joint mechanical arm structure according to claim 3 suitable for underwater narrow space operation, it is characterised in that:
The third section mechanical arm includes the 6th bevel gear (23), third section mechanical arm shell (24), cylinder (25), locking nut
(26), gripper connector sleeve (27), nut (28), gripper push rod (29), third pin shaft (30), connecting rod (31), the 4th pin shaft (32),
Gripper (33) and the 5th pin shaft (34)；6th bevel gear (23) is mounted on the square hole of third section mechanical arm shell (24) upper end
It is interior；It is internal that cylinder (25) is fixed on third section mechanical arm shell (24)；Gripper push rod (29) is fixed on cylinder by nut (28)
(25) on piston rod；Gripper connector sleeve (27) is covered in the outside of gripper push rod (29), and is fixed on by locking nut (26)
On third section mechanical arm shell (24)；Connecting rod (31) is hinged on gripper connector sleeve (27) lower end by third pin shaft (30)；Pass through
4th pin shaft (32) is hinged by gripper (33) and connecting rod (31)；Gripper (33) and gripper are pushed away by the 5th pin shaft (34)
Bar (29) lower end is hinged.
5. the multi-joint mechanical arm structure according to claim 4 suitable for underwater narrow space operation, it is characterised in that:
The first segment mechanical arm lower end and the second section mechanical arm upper end is hinged together by the first pin shaft (13), and guarantees first segment
The first bevel gear (7) of mechanical arm lower end and the second bevel gear (11) and third hand tap gear (12) of the second section mechanical arm upper end are nibbled
It closes.
6. the multi-joint mechanical arm structure according to claim 4 suitable for underwater narrow space operation, it is characterised in that:
The second section mechanical arm lower end and third section mechanical arm upper end is hinged together by the second pin shaft (22), and guarantees the second section
5th bevel gear (19) of mechanical arm lower end and the 6th bevel gear (23) engagement of third section mechanical arm upper end.
7. the multi-joint mechanical arm structure according to claim 4 suitable for underwater narrow space operation, it is characterised in that:
The first bevel gear (7), second bevel gear (11), third hand tap gear (12), the 4th bevel gear (14), the 5th bevel gear
(19) and mode, pressure angle, the facewidth of the 6th bevel gear (23) are all the same, and the velocity of rotation and angular dimension of each gear are homogeneous
Together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822159789.1U CN209665377U (en) | 2018-12-21 | 2018-12-21 | A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822159789.1U CN209665377U (en) | 2018-12-21 | 2018-12-21 | A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation |
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| Publication Number | Publication Date |
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| CN209665377U true CN209665377U (en) | 2019-11-22 |
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ID=68563084
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822159789.1U Active CN209665377U (en) | 2018-12-21 | 2018-12-21 | A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676595A (en) * | 2018-12-21 | 2019-04-26 | 核动力运行研究所 | A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation |
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2018
- 2018-12-21 CN CN201822159789.1U patent/CN209665377U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109676595A (en) * | 2018-12-21 | 2019-04-26 | 核动力运行研究所 | A kind of multi-joint mechanical arm structure suitable for underwater narrow space operation |
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