CN101661804A - Radiation resistant underwater monitoring robot - Google Patents
Radiation resistant underwater monitoring robot Download PDFInfo
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- CN101661804A CN101661804A CN200810146957A CN200810146957A CN101661804A CN 101661804 A CN101661804 A CN 101661804A CN 200810146957 A CN200810146957 A CN 200810146957A CN 200810146957 A CN200810146957 A CN 200810146957A CN 101661804 A CN101661804 A CN 101661804A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention belongs to underwater robots, and in particular discloses a radiation resistant underwater monitoring robot. A remote controller transmits a control command to a master controller through a CAN bus; the control command is transmitted to a monitoring video recorder, a robot body, a tilt holder, underwater lighting, an underwater camera and a manipulator respectively by the master controller; the monitoring video recorder is a post-processing part for the video data acquisition of the underwater camera, and displays and records video information of the underwater camera; and the sensor acquires and transmits the information on the posture and the pressure of the robot body to the master controller. The robot can run 10 hours continuously under a radiation environment with the environmental dose of 10<5> rad, has a small volume, a compact structure and stable operations, combines automatic control and manual control, and meets the control with different motion requirements.
Description
Technical field
The invention belongs to a kind of underwater robot, be specifically related to a kind of radiation resistant underwater monitoring robot that is applied to subsea equipment maintenance monitoring, in-pile component and the visual examination of nuclear power station key equipment and the underwater operation of high radioactivity nuclear environment.
Background technology
Nuclear power plant may cause the especially damage of cradle cylinder body outside irradiation monitoring pipe of in-pile component after long-time running.For guaranteeing npp safety, stable operation, must guarantee the intact of in-pile component, need in case of necessity to its detect, maintenance and part replacement.Because in-pile component is in the high radioactivity environment, testing staff and maintenance personal's irradiation have a big risk, the difficulty height, therefore must develop automatic detection of a cover and maintenance system to the equipment under the nuclear radiation environments such as in-pile component detect, maintenance and part replacement.
Underwater robot is a kind of automatic mechanical system that swims in water, by carrying different sensing elements, as camera, sensor etc., in the mechatronics system that finishes Video Detection, underwater operation under water under operating personnel's the remote control or under the computer controlled automatic.The civilian underwater robot that runs on river course or marine field at home and abroad is widely used, such as river course dykes and dams detection machine people and ocean deepwater robot.Yet the general volume of robot system is bigger under the domestic use of water, and weight is heavier, and kinematic dexterity is poor, the maneuverability that does not possess the small space Equipment Inspection, do not possess anti-Radiation Characteristics, can't be applied to nuclear environment, such underwater robot generally only possesses the function of observation machine simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of radiation resistant underwater monitoring robot, this robot can be deep into refuelling pool, integrity to the reactor inner member is carried out video check, can hover over any position in the refuelling pool, the overall process of maintenance of monitoring in-pile component and part replacement, guarantee carrying out smoothly of in-pile component maintenance and part replacement, can pick up the foreign matter in the pond, finish the cleaning of refuelling pool.
Realize the technical scheme of the object of the invention: a kind of radiation resistant underwater monitoring robot, it comprises master controller, remote controllers, supervision and video recorder, robot body, tilt-top, underwater illuminating device, underwater camera head, mechanical arm and attitude sensor, wherein, master controller adopts the bus distributed control mode of CAN, all steering orders of master controller and signal data are undertaken alternately by CAN bus and remote controllers, realize systemic-function; Remote controllers are given master controller by CAN bus transfer steering order, are transferred to supervision and video recorder, robot body, tilt-top, underwater lighting, underwater camera head, mechanical arm respectively by master controller again; Supervision is the aftertreatment part of underwater camera head video data acquiring with video recorder, shows and record the video information of underwater camera head; Attitude sensor is gathered the information transmission of robot body, tilt-top, underwater lighting, underwater camera head and mechanical arm and is given master controller.
Described robot body comprises back cabin, back upper-deck cabin, preceding left cabin, preceding right cabin, surface level left side thruster, the right thruster of surface level, the right thruster of vertical plane, vertical plane left side thruster, base, basic framework down; Be fixed with the basic framework that vertically place at two intervals on the base, back cabin down circumferentially is interval with two all flanges with the back upper-deck cabin outside that is positioned at top, cabin under the back respectively along it, before left cabin and with the preceding right side of preceding left cabin on same surface level out of my cabin portion circumferentially be provided with all flanges respectively along it, fixedly connected with the sidewall of basic framework in the back down flange on cabin, back upper-deck cabin, preceding left cabin, the preceding right cabin; The right thruster of surface level left side thruster and surface level be located at the back down cabin and back upper-deck cabin and both be positioned on the same surface level, surface level left side thruster, the right thruster of surface level respectively with fixedly connected between two basic frameworks; Vertical plane left side thruster is between preceding left cabin and back upper-deck cabin, the right thruster of vertical plane is between preceding right cabin and back upper-deck cabin, and right thruster of vertical plane and vertical plane left side thruster are on same perpendicular, and the right thruster of vertical plane, vertical plane left side thruster are fixedlyed connected respectively with between two basic frameworks.
Be provided with tilt-top in the left cabin before described with a rotary freedom, left cabin before the tilt-top drive motor of the tilt-top gear of tilt-top and driving gear is positioned at, the free end of tilt-top is positioned at preceding left side portion out of my cabin; Be fixed with underwater camera head and mechanical arm on the free end of tilt-top, underwater camera head capsule body is fixed with a underwater illuminating device respectively on the two side, and mechanical arm is controlled motor, finger folding control motor, mechanical finger by telescopic arm and connected to form successively; The back down is provided with attitude sensor in the cabin, and attitude sensor comprises pressure transducer and compass, and pressure transducer and compass are separately fixed at the back down on the inwall of cabin; Tilt-top gear on telescopic arm on mechanical arm control motor, finger folding control motor and mechanical finger, the tilt-top and tilt-top drive motor, underwater illuminating device by the control cable all be fixed on base on hub be connected, the other end of connecting hub is connected with master controller by the control cable, and the transducing signal transmission line of the pressure transducer of attitude sensor, compass is connected with master controller by underwater electrical connector.
Described back down the cabin with afterwards fixedly connected by hollow mechanism between the upper-deck cabin; Thruster is separately fixed on the cassette connecting piece, and the cassette connecting piece is connected by on check bolt and the basic framework; Be fixed with balancing weight on the base; Bumper frame is an arc frame; the bottom of bumper frame is fixed on the base; the other end of bumper frame is fixed on the sidewall of basic framework; and underwater camera head, underwater illuminating device and mechanical arm are positioned at the arc of bumper frame; bumper frame is the fender bracket of underwater camera head, underwater illuminating device and mechanical arm, avoids because the people causes the damaged in collision of underwater camera head, underwater illuminating device and mechanical arm for maloperation.
Described basic framework top is provided with hole for hoist; Be connected by check bolt between the flange of cabin body and the basic framework; Balancing weight is bound up on the base by angle bar and check bolt, and basic framework is fixed on the base by check bolt, and the two ends of bumper frame are all by on check bolt difference firm banking and the basic framework; The underwater camera head is the camera of anti-irradiation, has zoom and focusing effect automatically; Underwater illuminating device adopts the encapsulation of low-power high-brightness LED to form, and is installed in underwater camera head capsule body both sides respectively by bolted on connection; Combine by check bolt between telescopic arm control motor, finger folding control motor and the mechanical finger; Thruster all adopts the 15W motor, and its operating voltage is 0-20V, and rotating speed is 0-650rpm, and can produce maximum thrust is 1.1Kg.
Described robot body, tilt-top, underwater illuminating device, underwater camera head and mechanical arm are the material of anti-irradiation.
Beneficial effect of the present invention is: the characteristics of radiation resistant underwater monitoring robot of the present invention are that total system adopts anti-irradiation design, may operate under the high dose nuclear radiation environment, can reach 10 in the highest environment dose rate
5The environment of rad moves 10 hours down continuously; Radiation resistant underwater monitoring robot of the present invention is the robot that swims in the water simultaneously, can hover over any depth location of 40 meters depth of waters; The underwater robot of anti-irradiation of the present invention adopts manual motion switch control, when automatic operation is controlled, utilizes multi-sensor fusion technology, by FEEDBACK CONTROL, realizes that the directed depthkeeping of robot moves automatically, and accurately directed, depthkeeping hovers stable.Little, the compact conformation of volume operates steadily, and combines with manual control automatically, satisfies different motion requirements control.This robot can be deep into refuelling pool, integrity to the reactor inner member is carried out video check, can hover over any monitoring position in-pile component maintenance and part replacement overall process in the refuelling pool, guarantee carrying out smoothly of in-pile component maintenance and part replacement, can pick up the foreign matter in the pond, finish the cleaning of refuelling pool.Possess underwater television, underwater lighting, the function of foreign matter extracting under water, the inspection machine people of in-pile component when this robot can overhaul as nuclear power plant's shutdown, when carrying out the in-pile component maintenance, can be used as the supervisory-controlled robot of in-pile component maintenance, can clear up foreign matter in nuclear power plant's refuelling pool simultaneously with part replacement.This robot also can be used as monitoring, monitoring and the cleaning work of other non-nuclear field subsea equipments.
Description of drawings
Fig. 1 is the underwater robot of anti-irradiation system framework figure;
Fig. 2 and Fig. 3 are the 3 dimensional drawing of robot body;
Fig. 4 is the two-dimensional structure synoptic diagram of robot body and functional part;
Fig. 5 is that the A-A of Fig. 4 is to cut-open view;
Fig. 6 is that the B-B of Fig. 5 is to cut-open view;
Fig. 7 is that the C-C of Fig. 4 is to cut-open view;
Fig. 8 is the structural representation that cabin body and basic framework connect.
Among the figure: 1. base; 2. balancing weight; 3. underwater electrical connector; 4. cabin under after; 5. underwater electrical connector; 6. basic framework; 7. upper-deck cabin after; 8. hole for hoist; 9. hub; 10. underwater camera head; 11. underwater illuminating device; 12. telescopic arm control motor; 13. mechanical finger; 14. finger folding control motor; 15. bumper frame; 16. surface level left side thruster; 17. the right thruster of surface level; 18. cassette connecting piece; 19. the right thruster of vertical plane; 20. vertical plane left side thruster; 21. tilt-top gear; 22. underwater electrical connector; 23. tilt-top drive motor; 24. preceding left cabin; 25. preceding right cabin; 26. pressure transducer; 27. compass; 28. underwater electrical connector; 29. hollow mechanism; 30. remote manipulator; 31. monitor and video recorder; 32. master controller; 33. underwater robot body; 34. tilt-top; 35. mechanical arm; 36. flange; 37. attitude sensor; 38. The Cloud Terrace base.
Specific embodiment
Below in conjunction with drawings and Examples a kind of underwater robot of anti-irradiation provided by the present invention is described in further detail.
As shown in Figure 1, a kind of radiation resistant underwater monitoring robot, it comprises master controller 32, remote controllers 30, supervision and video recorder 31, robot body 33, tilt-top 34, underwater illuminating device 11, underwater camera head 10, mechanical arm 35 and attitude sensor 37.Master controller 32 adopts the bus distributed control mode of CAN, and all steering orders of master controller 32 and signal data are undertaken alternately by CAN bus and remote controllers 30, realizes systemic-function; Remote controllers 30 are given master controller 32 by CAN bus transfer steering order, are transferred to respectively by master controller 32 to monitor and video recorder 31, robot body 33, tilt-top 34, underwater lighting 11, underwater camera head 10, mechanical arm 35 again; Supervision is aftertreatment parts of underwater camera head 10 video data acquirings with video recorder 31, shows and record the video information of underwater camera head 10; Attitude sensor 37 is gathered the information transmission of robot body 33, tilt-top 34, underwater lighting 11, underwater camera head 10 and mechanical arm 35 and is given master controller 32.
As Fig. 2, Fig. 3 and shown in Figure 4, robot body 33 comprises back cabin 4, back upper-deck cabin 7, preceding left cabin 24, preceding right cabin 25, surface level left side thruster 16, the right thruster 17 of surface level, the right thruster 19 of vertical plane, vertical plane left side thruster 20, base 1, basic framework 6 down; Be fixed with the basic framework 6 that vertically place at two intervals on the base 1, back cabin 4 down circumferentially is interval with two all flanges 36 with upper-deck cabin 7 outsides, back respectively along it, preceding left cabin 24 and 25 outsides, preceding right cabin circumferentially are provided with all flanges 36 respectively along it, and the flange 36 under the back on cabin 4, back upper-deck cabin 7, preceding left cabin 24, the preceding right cabin 25 is fixedlyed connected with the sidewall of basic framework 6; The right thruster 17 of surface level left side thruster 16 and surface level between cabin 4 under the back and back upper-deck cabin 7 and both be positioned on the same surface level, surface level left side thruster 16, the right thruster 17 of surface level are fixedlyed connected respectively with between two basic frameworks 6; Vertical plane left side thruster 20 is between preceding left cabin 24 and back upper-deck cabin 7, the right thruster 19 of vertical plane is between preceding right cabin 25 and back upper-deck cabin 7, and right thruster 19 of vertical plane and vertical plane left side thruster 20 are on same perpendicular, and the right thruster 19 of vertical plane, vertical plane left side thruster 20 are fixedlyed connected respectively with between two basic frameworks 6.
As shown in Figure 6, be provided with tilt-top 34 in the preceding left cabin 24 with rotary freedom, tilt-top 34 comprises The Cloud Terrace base 38, tilt-top gear 21 and tilt-top drive motor 23, driving gear 21 is gear shift, tilt-top drive motor 23 is by gear drive tilt-top gear 21, The Cloud Terrace base 38 is fixed on the gear that drives gear 21, The Cloud Terrace base 38 can be around the main axis rotation of tilt-top gear 21, tilt-top drive motor 23 is positioned at preceding left cabin 24, and The Cloud Terrace base 38 is positioned at preceding 24 inside and outsides, left cabin, and leave the gap with preceding left cabin 24 housings.As shown in Figure 5, The Cloud Terrace base 38 lateral walls are fixed with underwater camera head 10 and mechanical arm 35, the underwater camera head is fixed with a underwater illuminating device 11 respectively on the 10 housing two sides, and mechanical arm 35 is connected to form successively by telescopic arm control motor 12, finger folding control motor 14, mechanical finger 13; The back down is provided with attitude sensor 37 in the cabin 4, and attitude sensor 37 comprises pressure transducer 26 and compass 27, and pressure transducer 26 and compass 27 are separately fixed at the back down on 4 inwalls of cabin; Tilt-top gear 21 on telescopic arm on the mechanical arm 35 control motor 12, finger folding control motor 14 and mechanical finger 13, the tilt-top 34 and tilt-top drive motor 23, underwater illuminating device 11 by the control cable all be fixed on base 1 on hub 9 be connected, the other end of hub 9 is connected with master controller 32 by the control cable, and the pressure transducer 26 of attitude sensor 37, the transducing signal transmission line of compass 27 are connected with master controller 32 by underwater electrical connector 3,5,22,28.
As shown in Figure 7, the back down cabin 4 with afterwards fixedly connected by hollow mechanism 29 between the upper-deck cabin 7.As shown in Figure 5, thruster 16,17,19,20 is separately fixed on the cassette connecting piece 18, and cassette connecting piece 18 is by 6 being connected on check bolt and the basic framework; Be fixed with balancing weight 2 on the base 1.As shown in Figure 1; bumper frame 15 is an arc frame; the bottom of bumper frame 15 is fixed on the base 1; the other end of bumper frame 15 is fixed on the sidewall of basic framework 6; and underwater camera head 10, underwater illuminating device 11 and mechanical arm 35 are positioned at the arc of bumper frame 15; bumper frame 15 is fender brackets of underwater camera head 10, underwater illuminating device 11 and mechanical arm 35, avoids because the people causes the damaged in collision of underwater camera head 10, underwater illuminating device 11 and mechanical arm 35 for maloperation.
Basic framework 6 tops are provided with hole for hoist 8; Be connected by check bolt between the flange 36 of cabin body and the basic framework 6; Base 1 is the support section of robot body, simultaneously lay platform to adjust the weight of robot body as balancing weight 2 again, and the robot body center of gravity is moved down, has stabilization, balancing weight 2 is bound up on the base 1 by angle bar and check bolt, basic framework 6 is fixed on the base 1 by check bolt, and the two ends of bumper frame 15 are all by on check bolt difference firm banking 1 and the basic framework 6; Underwater camera head 10 is the camera of anti-irradiation, has zoom and focusing effect automatically; Underwater illuminating device 11 adopts the encapsulation of low-power high-brightness LED to form, and is installed in underwater camera head 10 housing both sides respectively by bolted on connection; Have between telescopic arm control motor 12, finger folding control motor 14 mechanical fingers 13 and combine by check bolt; Thruster 16,17,19,20 all adopts the 15W motor, and its operating voltage is 0-20V, and rotating speed is 0-650rpm, and can produce maximum thrust is 1.1Kg.Thruster is that the power of robot body provides part, be arranged in the thruster 16,17 of the surface level left and right sides, the power that moves forward and backward of robot body mainly is provided, can finishes advancing, retreat, turning of robot body and the original place rotatablely moves according to thruster propelling power direction and varying in size; Be arranged in the thruster 20,19 of the vertical plane left and right sides, the power of robot body lifting in water mainly is provided, lifting and the heel of finishing robot body that can and vary in size according to thruster propelling power direction moved.Robot body 33, tilt-top 34, underwater illuminating device 11, underwater camera head 10 and mechanical arm 35 are the material of anti-irradiation.
Set forth the underwater operation process of the underwater robot of anti-irradiation below in conjunction with accompanying drawing 1～Fig. 8: at first carry out robot body 33 and functional part thereof and throw in, use special-purpose delivery device, be lifted on hole for hoist 8 places of basic framework 6 upper ends, robot body 33 and functional part are moved in the water, and remove special-purpose delivery device, because entire machine human body and functional part are slightly less than buoyancy in weight, therefore, can keep afloat when the underwater robot of anti-irradiation is not worked.The start by sequence underwater robot of anti-irradiation master controller 32, remote manipulator 30, supervision and video recorder 31 power supplys.The operating grip that starts remote manipulator 30 runs to desired location with robot body, when front and back promotion and rotating operating handle, two thrusters 16,17 that corresponding surface level is arranged produce the propelling power of respective direction and corresponding size, with the advancing of control robot body 33, retreat, about turn and the original place rotation, press the directional buttons of remote manipulator 30, then robot body 33 will retreat or advance along straight line.The lifting knob operation robot body 33 that starts remote manipulator 30 is to required operating depth, two thrusters 19,20 that the corresponding vertical plane of lifting knob is arranged produce identical forward of equal and opposite in direction, direction or reverse propelling power simultaneously, lifting with control robot body 33, press the depthkeeping button of remote manipulator 30, then robot body 33 will hover over the current depth of water, when starting the heel knob, two thrusters 19,20 that corresponding vertical plane is arranged produce equal and opposite in direction, the propelling power that direction is different is with the heel of control robot body 33.Start the camera knob of remote manipulator, adjust the video focal length, underwater camera head 10 is started working, and monitors with video recorder 31 simultaneously and starts working, and monitors and write down video data under water.Start the underwater lighting knob of remote manipulator 30, regulate the underwater lighting intensity of illumination according to the environment needs, underwater illuminating device 11 is started working.Start the The Cloud Terrace rotary knob of remote manipulator 30,34 years moving underwater camera heads 10 of tilt-top and underwater illuminating device 11 carry out luffing, enlarge to monitor and the visual detection scope, start the tilt-top locking press button of remote manipulator 30, then tilt-top 34 is locked in the fixed position.In the time will grasping foreign matter, start mechanical finger knob, finger folding control motor 14 starts, mechanical finger 13 opens, and starts the flexible knob of mechanical arm, and mechanical arm control motor 12 starts, mechanical arm stretches out, and tilt-top 34 cooperative motions are when mechanical finger 13 is depended near foreign matter, restart the mechanical finger knob, mechanical finger 13 closures clamp foreign matter, start the mechanical arm knob, mechanical finger 13 withdrawals are finished foreign matter and are grasped.When the needs manual movement is controlled, by the speed adjusting knob, regulate four angle of rake propelling powers respectively to regulate the travelling speed of robot body 33, the direction of passage control handle is regulated angle of rake propelling power direction respectively to regulate the direction of motion of robot body.When needs are manually controlled, the manual mode that the switch mode selector button switches motor pattern.When the robot body seal failure causes leaking; a reometer on the remote manipulator 30 shows water leakage alarm; when system's electric leakage produces short circuit; another reometer on the remote manipulator 30 shows leakage-current alarm; the operator can confirm the system failure according to alarm indication; with fast shut-off power supply, protection system.
Claims (5)
1. radiation resistant underwater monitoring robot, it comprises master controller (32), remote controllers (30), supervision and video recorder (31), robot body (33), tilt-top (34), underwater illuminating device (11), underwater camera head (10), mechanical arm (35) and attitude sensor (37), it is characterized in that: master controller (32) adopts the bus distributed control mode of CAN, all steering orders of master controller (32) and signal data are undertaken alternately by CAN bus and remote controllers (30), realize systemic-function; Remote controllers (30) are given master controller (32) by CAN bus transfer steering order, are transferred to respectively by master controller (32) to monitor and video recorder (31), robot body (33), tilt-top (34), underwater lighting (11), underwater camera head (10), mechanical arm (35) again; Supervision is the aftertreatment part of underwater camera head (10) video data acquiring with video recorder (31), shows and record the video information of underwater camera head (10); Attitude sensor (37) is gathered the information transmission of robot body (33), tilt-top (34), underwater lighting (11), underwater camera head (10) and mechanical arm (35) and is given master controller (32).
2. a kind of radiation resistant underwater monitoring robot according to claim 1 is characterized in that: described robot body (33) comprises back cabin (4), back upper-deck cabin (7), preceding left cabin (24), preceding right cabin (25), surface level left side thruster (16), the right thruster (17) of surface level, the right thruster (19) of vertical plane, vertical plane left side thruster (20), base (1), basic framework (6) down; Be fixed with the basic framework (6) that vertically place at two intervals on the base (1), the back is cabin (4) and be positioned at the back and circumferentially be interval with two all flanges (36) respectively along it in back upper-deck cabin (7) outside on top, cabin (4) down down, before left cabin (24) and circumferentially be provided with all flanges (36) respectively along it with the preceding right cabin (25) of preceding left cabin (24) on same surface level is outside, fixedly connected with the sidewall of basic framework (6) in the back flange (36) on cabin (4), back upper-deck cabin (7), preceding left cabin (24), the preceding right cabin (25) down; The right thruster of surface level left side thruster (16) and surface level (17) be positioned at the back down between cabin (4) and the back upper-deck cabin (7) and both be positioned on the same surface level, the left thruster (16) of surface level, surface level right side thruster (17) respectively with fixedly connected between two basic frameworks (6); Vertical plane left side thruster (20) is positioned between preceding left cabin (24) and the back upper-deck cabin (7), the right thruster of vertical plane (19) is positioned between preceding right cabin (25) and the back upper-deck cabin (7), and right thruster (19) of vertical plane and vertical plane left side thruster (20) are on same perpendicular, and the right thruster (19) of vertical plane, vertical plane left side thruster (20) are fixedlyed connected respectively with between two basic frameworks (6).
3. according to the described a kind of radiation resistant underwater monitoring robot of claim 2, it is characterized in that: be provided with tilt-top (34) in the left cabin (24) before described with rotary freedom, tilt-top (34) comprises The Cloud Terrace base (38), tilt-top gear (21) and tilt-top drive motor (23), driving gear (21) is gear shift, tilt-top drive motor (23) is by gear drive tilt-top gear (21), The Cloud Terrace base (38) is fixed on the gear that drives gear (21), The Cloud Terrace base (38) can be around the main axis rotation of tilt-top gear (21), tilt-top drive motor (23) is positioned at preceding left cabin (24), and The Cloud Terrace base (38) is positioned at preceding inside and outside, left cabin (24), and leave the gap with preceding left cabin (24) housing; The Cloud Terrace base (38) lateral wall is fixed with underwater camera head (10) and mechanical arm (35), underwater camera head (10) is fixed with a underwater illuminating device (11) respectively on the housing two side, and mechanical arm (35) is connected to form successively by telescopic arm control motor (12), finger folding control motor (14), mechanical finger (13); The back down is provided with attitude sensor (37) in the cabin (4), and attitude sensor (37) comprises pressure transducer (26) and compass (27), and pressure transducer (26) and compass (27) are separately fixed at afterwards down on the inwall of cabin (4); Telescopic arm control motor (12) on the mechanical arm (35), finger folding control motor (14) and mechanical finger (13), tilt-top gear (21) on the tilt-top (34) and tilt-top drive motor (23), underwater illuminating device (11) by control cable all be fixed on base (1) on hub (9) be connected, the other end of connecting hub (9) is connected the pressure transducer (26) of attitude sensor (37) by the control cable with master controller (32), the transducing signal transmission line of compass (27) is by underwater electrical connector (3), (5), (22), (28) be connected with master controller (32).
4. according to the described a kind of radiation resistant underwater monitoring robot of claim 3, it is characterized in that: described back down cabin (4) with afterwards fixedly connected by hollow mechanism (29) between the upper-deck cabin (7); Thruster (16), (17), (19), (20) are separately fixed on the cassette connecting piece (18), and cassette connecting piece (18) is connected with (6) on the basic framework by check bolt; Be fixed with balancing weight (2) on the base (1); Bumper frame (15) is an arc frame; the bottom of bumper frame (15) is fixed on the base (1); the other end of bumper frame (15) is fixed on the sidewall of basic framework (6); and underwater camera head (10), underwater illuminating device (11) and mechanical arm (35) are positioned at the arc of bumper frame (15); bumper frame (15) is the fender bracket of underwater camera head (10), underwater illuminating device (11) and mechanical arm (35), avoids because the people causes the damaged in collision of underwater camera head (10), underwater illuminating device (11) and mechanical arm (35) for maloperation.
5. according to the described a kind of radiation resistant underwater monitoring robot of claim 4, it is characterized in that: described basic framework (6) top is provided with hole for hoist (8); Be connected by check bolt between the flange of cabin body (36) and the basic framework (6); Balancing weight (2) is bound up on the base (1) by angle bar and check bolt, and basic framework (6) is fixed on the base (1) by check bolt, and the two ends of bumper frame (15) are all by on check bolt difference firm banking (1) and the basic framework (6); Underwater camera head (10) is the camera of anti-irradiation, has zoom and focusing effect automatically; Underwater illuminating device (11) adopts the encapsulation of low-power high-brightness LED to form, and is installed in underwater camera head (10) housing both sides respectively by bolted on connection; Have between telescopic arm control motor (12), finger folding control motor (14) mechanical finger (13) and combine by check bolt; The 15W motor is all adopted in thruster (16), (17), (19), (20), and its operating voltage is 0-20V, and rotating speed is 0-650rpm, and can produce maximum thrust is 1.1Kg.
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| CN200810146957A CN101661804B (en) | 2008-08-28 | 2008-08-28 | Radiation resistant underwater monitoring robot |
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| CN200810146957A CN101661804B (en) | 2008-08-28 | 2008-08-28 | Radiation resistant underwater monitoring robot |
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| CN101661804B CN101661804B (en) | 2012-08-29 |
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