CN219580599U - Underwater test bed - Google Patents

Abstract

The utility model discloses an underwater test stand, which comprises a closed container, a first opening arranged on the top surface of the container, a second opening arranged on the top surface of the container, a simulation disc for bearing test members and a bottom plate for simulating ground environments with different dip angles, wherein the first opening is arranged on the top surface of the container; the simulation disc is arranged in the container and is suspended below the second opening; the bottom plate is arranged on the inner bottom surface of the container to bear the underwater robot, and the inclination angle of the bottom plate is adjustable. According to the underwater test stand, an underwater working environment is constructed through the container, different liquid media can be loaded, and the test of an underwater robot in different working environments is met; the simulation disc placement test component is arranged, corresponding parts can be replaced according to different working conditions, and the test requirements of the underwater robot under different working conditions are met.

Description

Underwater test bed

Technical Field

The utility model relates to the technical field of underwater equipment, in particular to an underwater test stand.

Background

With the integration and large-scale development of various production and energy supply in the current society, a large number of large-format deep water pool special working environments with complex underwater environments such as spent fuel pools of nuclear power stations are derived. However, corresponding to the special working environment, the corresponding supporting facilities are not perfect at present, and the operation of the underwater environment is accompanied by dangers.

In order to ensure the life and property safety of the staff, robots or other remote equipment are required to assist the operation of the underwater environment as much as possible. The robot is used for underwater environment operation, so that the reliability and the actual performance of the underwater robot are required to be ensured, and related tests are required to be carried out on the robot, but the applicability of the existing testing device is not high, and the testing efficiency is low.

Disclosure of Invention

The utility model aims to solve the technical problem of providing an underwater test stand capable of meeting the test requirements of an underwater robot in different underwater environments.

The technical scheme adopted for solving the technical problems is as follows: providing an underwater test bench, comprising a closed container, a first opening, a second opening, a simulation disc and a bottom plate, wherein the closed container is internally used for filling liquid medium, the first opening is arranged on the top surface of the container and is used for enabling an underwater robot to enter and exit the container, the second opening is arranged on the top surface of the container and is used for taking and placing test members, the simulation disc is used for bearing the test members, and the bottom plate is used for simulating ground environments with different dip angles;

the simulation disc is arranged in the container and is suspended below the second opening;

the bottom plate is disposed on an inner bottom surface of the container to carry an underwater robot.

Preferably, the underwater test stand further comprises a support assembly disposed within the container;

the supporting component comprises a supporting frame which is arranged on the inner bottom surface of the container corresponding to one end of the bottom plate and a lifting rod which is arranged on the inner bottom surface of the container corresponding to the opposite end of the bottom plate;

one end of the bottom plate is connected to the supporting frame through a rotating shaft, and the other end of the bottom plate is supported above the liftable rod; the bottom plate rotates around the rotating shaft along with the lifting of the lifting rod, and forms a preset inclination angle relative to the inner bottom surface of the container.

Preferably, the underwater test bench further comprises a first sealing cover which can be sealed on the first opening in an opening-closing manner, and a second sealing cover which can be sealed on the second opening in an opening-closing manner.

Preferably, a cable sealing port for the cable to pass through is arranged on the first sealing cover.

Preferably, the container comprises a lower shell and an upper cover which is sealed on the lower shell; the upper cover forms a top surface of the container.

Preferably, the underwater test stand further comprises a lifting assembly provided on the top surface of the container for lifting the underwater robot.

Preferably, the hoisting assembly comprises a suspension arm and a frame for accommodating an underwater robot;

the suspension arm is vertically arranged on the top surface of the container, and the frame body is suspended and connected with the suspension arm through a cable; at least one side plate of the frame body can be opened and closed, and the robot can enter and exit the frame body under water supply.

Preferably, the side wall of the container is provided with at least one viewing window and/or at least one camera.

Preferably, the underwater test stand further comprises a detection assembly mounted on the container;

the detection assembly includes at least one of a temperature sensor, a pressure sensor, and a PH sensor.

Preferably, the submerged test stand further comprises a control pump for pumping a liquid medium into the vessel; the outlet end of the control pump is connected with the container through a filter and a water inlet pipeline.

The utility model has the beneficial effects that: an underwater working environment is constructed through the container, so that different liquid media can be loaded, and the test of the underwater robot under different working environments is met; the simulation disc placement test member is arranged, so that corresponding parts can be replaced according to different working conditions, and the test requirements of the underwater robot under different working conditions are met; saves resources, increases the use efficiency and has high applicability.

Drawings

The utility model will be further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a schematic view (partially cut away) of an underwater test stand according to an embodiment of the present utility model;

FIG. 2 is a schematic cross-sectional view of a second opening in the underwater test stand according to an embodiment of the present utility model;

fig. 3 is a schematic view (partially cut away) of the underwater test stand according to an embodiment of the present utility model after the underwater robot enters.

Detailed Description

For a clearer understanding of technical features, objects and effects of the present utility model, a detailed description of embodiments of the present utility model will be made with reference to the accompanying drawings.

As shown in fig. 1 to 3, the underwater test stand according to an embodiment of the present utility model includes a closed vessel 10, first and second openings 110 and 120 provided on the vessel 10, a dummy disc 20 provided in the vessel 10, and a bottom plate 30.

Wherein the interior of the container 10 is filled with a liquid medium, such as water or boric acid, to simulate the underwater working environment of an underwater robot. The first opening 110 is provided mainly on the top surface of the container 10 for the underwater robot to enter and exit the container 10. A second opening 120 is also provided on the top surface of the container 10 for the removal and placement of the test member 40; the test member 40 is an object member for the underwater robot to operate under water, and the object member is selected according to different underwater operation environments, such as a conduit, a grinding mechanism, etc., or is used for picking and placing spent fuel according to the underwater environment of a spent fuel pool of a nuclear power station. A dummy disk 20 is disposed within the container 10 and depends below the second opening 120 for carrying the test member 40 while also facilitating the removal and placement of the test member 40 from the second opening 120. A floor 30 is provided on the inner bottom surface of the container 10 for simulating the ground to carry an underwater robot.

In order to realize the simulation of different working conditions, the test component 40 can replace corresponding components corresponding to different working environments, so that the conditions of working performance, reliability and the like of the underwater robot under different working conditions are tested, or the conditions of working performance, reliability and the like of the underwater robot during multiple processing under the same working condition are tested.

Specifically, the container 10 may further include a lower case 11 and an upper cover 12 in structure. The top of the lower housing 11 is open, and the inner chamber of the lower housing 11 is used for containing liquid medium; the upper cover 12 is sealed to the open top of the lower case 11, and closes the lower case 11 to form the container 10 with the lower case 11. The upper cover 12 and the lower shell 11 can be fixed by a bolt and other fasteners, and sealing medium can be arranged between the upper cover 12 and the lower shell 11 to realize the tightness between the matching surfaces of the upper cover 12 and the lower shell 11.

In fig. 1-3, the container 10 is of a rectangular parallelepiped configuration. It will be appreciated that the container 10 is not limited to the rectangular parallelepiped shape shown in fig. 1-3, but may be other shapes such as a cylinder, as long as there is sufficient volume within to simulate the underwater working environment of an underwater robot.

To facilitate the observation and recording of the actual conditions inside the container 10 by the test person from a plurality of angles, the side wall of the container 10 (i.e. the side wall of the lower housing 11) is provided with at least one observation window 101 and/or at least one camera 102. The observation window 101 is provided, so that a tester can observe the internal condition of the container 10 intuitively. The camera 102 is not only beneficial to shooting and recording the internal condition of the container 10, but also can realize remote real-time knowing of the internal condition of the container 10.

The coupling container 10 is formed by the cooperation of the lower case 11 and the upper cover 12, the upper cover 12 forming the top surface of the container 10, and the first opening 110 and the second opening 120 being provided on the upper cover 12, respectively. In the test phase, to maintain the tightness of the container 10, the underwater test stand of the present utility model further includes a first sealing cover 51 openably sealed to the first opening 110, and a second sealing cover 52 openably sealed to the second opening 120. The shape of the first sealing cover 51 is set corresponding to the shape of the first opening 110, and may be, but not limited to, square, circular, etc.; the shape of the second sealing cap 52 is disposed corresponding to the shape of the second opening 120, and may be, but is not limited to, a circle.

The top surfaces of the first sealing cover 51 and the second sealing cover 52 can be respectively provided with a handle part, and the handle part is used for holding a tester or hanging a hoisting device, so that the first sealing cover 51 can be conveniently taken and placed on the first opening 110, and the second sealing cover 52 can be conveniently taken and placed on the second opening 120.

When the underwater robot is to access the container 10, the first sealing cover 51 is opened, thereby opening the first opening 110. When the underwater robot performs an underwater operation test in the container 10, it is ensured that the first sealing cover 51 is covered on the first opening 110 to close it. Because some underwater robots communicate data and transmit power via umbilical cables, cable seals 510 may also be provided on the upper cover 12. The cable sealing port 510 is used for the passage of the cable while being tightly fitted with the outer circumference of the cable.

For the second seal cap 52, it is opened when it is desired to put in or take out the test element 40 on the dummy disc 20. After the test member 40 is placed, the underwater robot performs an underwater operation test, ensuring that the second sealing cover 52 is closed by covering the second opening 120.

The simulation tray 20 is used to simulate the platform structure of the load bearing object member 40 in an underwater operating environment. Alternatively, in the embodiment shown in fig. 2, the dummy disc 20 is a disc body having a concave receiving cavity, and a through hole is provided at the bottom of the disc body for the underwater robot to pass through for performing work on the test member. The second opening 120 is provided with a protruding step 121 inside, which step 121 cooperates with the top of the dummy disc 20 to position the dummy disc 20 under the second opening 120. The receiving cavity of the dummy disc 20 communicates with the second opening 120 so that the test member 40 can enter and exit the dummy disc 20 through the second opening 120.

For lowering the underwater robot into the container 10 or for lifting out of the container 10, the underwater test stand of the present utility model further includes a lifting assembly 60 for lifting the underwater robot, the lifting assembly 60 being disposed on the top surface of the container 10 and located at one side of the first opening 110.

The hoist assembly 60 further may include a suspension arm 61 and a frame 62. The suspension arm 61 is vertically disposed on the top surface of the container 10; the frame 62 is for accommodating an underwater robot, and the frame 62 is suspended from the suspension arm 61 by a cable 63. The suspension arm 61 controls the lowering or withdrawal of the cable, thereby lowering or suspending the frame 62 into or out of the container 10. The side plates and bottom plates of the frame 62 are preferably hollowed out or provided with a plurality of holes, which is advantageous for reducing the weight of the frame 62, for lowering into the liquid medium in the container 10, and for draining.

At least one side plate 621 of the frame 62 is openable and closable to allow the robot to enter and exit the frame 62. In the embodiment shown in fig. 3, a side plate 621 on the side of the frame 62 facing the second opening 120 is configured to be openable and closable, so that when the hoisting assembly 60 lowers the underwater robot into place in the container 10, the openable and closable side plate 621 is opened to be tiled on the bottom plate 30, and the underwater robot in the frame 62 moves out of the frame 62 along the side plate 621 and advances toward the simulation tray 20.

Within the vessel 10, the floor 30 is used for ground powered robots that simulate an underwater work environment to walk on. Because the ground of the underwater working environment is not a flat surface, the ground in the actual underwater working environment is uneven, so that some inclined angles exist, and the underwater robot moves on the underwater ground and needs to advance or retreat along the inclined angles. In this regard, the inclination angle of the bottom plate 30 in the container 10 is adjustable, thereby achieving the purpose of simulating the ground environment with different inclination angles.

Alternatively, the bottom plate 30 is rotatably disposed in the container 10 relative to the inner bottom surface of the container 10, so that the inclination angle of the bottom plate 30 can be adjusted, and the purpose of simulating the ground with different inclination angles can be achieved.

To achieve the tilt angle adjustable arrangement of the bottom plate 30, the under water test stand of the present utility model further comprises a support assembly provided in the vessel 10 for supporting the bottom plate such that a predetermined tilt angle is formed between the bottom plate 30 and the inner bottom surface of the vessel 10. The inclination angle is preferably acute to conform to the inclination angle at which the actual underwater robot can travel.

The bottom plate 30 includes opposite ends in a length direction thereof, one end of the bottom plate 30 corresponds to a lower portion of the first opening 110, and the opposite end of the bottom plate 30 corresponds to a lower portion of the second opening 120. The support assembly further comprises at least one support 31 and at least one liftable rod 32; the supporting frame 31 is correspondingly positioned at one end of the bottom plate 30 and is also positioned below the first opening 120; the liftable bar 32 is located correspondingly at the opposite end of the bottom plate 30, also below the second opening 120.

Wherein, one end of the supporting frame 31 facing away from the bottom plate 30 is disposed on the inner bottom surface of the container 10, and one end of the supporting frame 31 facing toward the bottom plate 30 is connected with the bottom plate 30 through a rotating shaft, so that the bottom plate 30 can rotate around the rotating shaft. The lifting rod 32 is provided on the inner bottom surface of the container 10 (the bottom inner surface of the container 10) correspondingly to the opposite end of the bottom plate 30, i.e., the lifting rod 32 is supported below the opposite end of the bottom plate 30.

The liftable rod 32 is provided on the inner bottom surface of the container 10 to be liftable, and may be realized by a telescopic rod of an air cylinder, a push rod driven by a driving mechanism such as an air cylinder, or the like.

When the liftable rod 32 is lifted or lowered relative to the inner bottom surface of the container 10, one end of the bottom plate 30 above the liftable rod is lifted or lowered, and the bottom plate 30 rotates around the rotating shaft along with the lifting of the liftable rod 32, so that the included angle between the bottom plate 30 and the inner bottom surface of the container 10 is changed, and the bottom plate 30 forms a preset inclined angle relative to the inner bottom surface of the container 10. When the height of the liftable rod 32 is equal to the height of the supporting frame 31, the bottom plate 30 can be made horizontal and parallel to the inner bottom surface of the container 10, i.e. the inclination angle is 0 °.

Further, to probe the actual state of the liquid medium inside the vessel 10, the under water test stand of the present utility model further comprises a detection assembly mounted on the vessel 10. To prevent leakage of liquid, the detection assembly is provided with a sealing ring at the location where it is mounted on the container 10.

The detection assembly includes at least one of a temperature sensor 71, a pressure sensor 72, and a pH sensor 73. The temperature sensor 71 is used to detect the temperature of the liquid medium, the pressure sensor 72 is used to detect the pressure inside the container 10, and the pH sensor 73 is used to detect the pH value of the liquid medium. When the detected temperature, pressure, pH of the liquid medium is not within the predetermined range, a regulating medium may be further inputted into the inside of the container 10 to regulate the above-mentioned parameters of the liquid medium to the predetermined range. The adjusting medium can be the same liquid as the liquid medium, or can be different liquid without affecting the underwater working environment constructed by the liquid medium.

In addition, the underwater test stand of the present utility model further includes a control pump 80; the outlet end of the control pump 80 is connected to the vessel 10 via a filter 90 and a water inlet line 91. In order to prevent liquid leakage, a pipeline sealing ring is arranged at the connecting position of the pipeline. The pump 80 is controlled as a power device to provide power to pump the liquid medium into the container 10 and also to regulate the pumping of the medium.

When the underwater test stand is used, the corresponding liquid medium is selected according to the working condition to be tested, and meanwhile, the inclination angle of the bottom plate 30 in the container 10 is adjusted to the inclination angle existing on the ground in the actual working environment through the supporting component. The second sealing cap 52 is opened, the test member 40 to be operated at the time of the underwater robot test is put into the dummy disc 20, and then the second sealing cap 52 is closed on the second opening 120. The first seal cap 51 is opened and the hoist assembly 60 lowers the underwater robot into the container 10 through the first opening 110 until it reaches the floor 30. After the underwater robot leaves the frame 61 of the hoist assembly 60, the boom 62 suspends the frame 61 out of the container 10 and seals the first seal cover 51 on the first opening 110.

The underwater robot travels within the vessel 10 to the simulated tray 20 and performs corresponding operations on the test members 40 thereon, such as cutting, grinding, etc. the catheter. When the operation test is required for different components under the same working condition, the test component 40 is only required to be replaced. The underwater robot needs to be subjected to operation test under different working conditions, a corresponding liquid medium is used, and the temperature, the pressure, the pH and the like of the liquid medium meet the working condition parameters.

The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present utility model.

Claims (10)

1. An underwater test bench is characterized by comprising a closed container, a first opening, a second opening, a simulation disc and a bottom plate, wherein the closed container is internally used for filling liquid medium, the first opening is arranged on the top surface of the container and used for enabling an underwater robot to enter and exit the container, the second opening is arranged on the top surface of the container and used for taking and placing a test member, the simulation disc is used for bearing the test member, and the bottom plate is used for simulating ground environments with different dip angles;

the simulation disc is arranged in the container and is suspended below the second opening;

the bottom plate is disposed on an inner bottom surface of the container to carry an underwater robot.

2. The subsea test stand of claim 1, further comprising a support assembly disposed within the vessel;

the supporting component comprises a supporting frame which is arranged on the inner bottom surface of the container corresponding to one end of the bottom plate and a lifting rod which is arranged on the inner bottom surface of the container corresponding to the opposite end of the bottom plate;

one end of the bottom plate is connected to the supporting frame through a rotating shaft, and the other end of the bottom plate is supported above the liftable rod; the bottom plate rotates around the rotating shaft along with the lifting of the lifting rod, and forms a preset inclination angle relative to the inner bottom surface of the container.

3. The under water test stand of claim 1 further comprising a first seal cap that is foldably sealed to the first opening, and a second seal cap that is foldably sealed to the second opening.

4. A test bench according to claim 3 wherein said first seal cover is provided with a cable seal for passage of a cable.

5. The bench of any of claims 1 to 4 wherein said vessel comprises a lower housing, an upper cover sealing against said lower housing; the upper cover forms a top surface of the container.

6. The submerged test stand of any one of claims 1 to 4, further comprising a hoisting assembly arranged on the top surface of the vessel for hoisting the submerged robot.

7. The underwater test stand of claim 6, wherein the hoist assembly comprises a boom and a frame for housing an underwater robot;

the suspension arm is vertically arranged on the top surface of the container, and the frame body is suspended and connected with the suspension arm through a cable; at least one side plate of the frame body can be opened and closed, and the robot can enter and exit the frame body under water supply.

8. An underwater test stand as claimed in any one of claims 1 to 4, characterized in that the side wall of the container is provided with at least one viewing window and/or at least one camera.

9. The bench of any of claims 1 to 4 further comprising a detection assembly mounted on the vessel;

the detection assembly includes at least one of a temperature sensor, a pressure sensor, and a PH sensor.

10. The bench of any of claims 1 to 4 further comprising a control pump for pumping liquid medium into the vessel; the outlet end of the control pump is connected with the container through a filter and a water inlet pipeline.