129results about How to "Improve motion stability" patented technology

The invention discloses a quadruped robot autonomous decision control system based on multi-modal perception, and belongs to the technical field of robot motion, and the system specifically comprises the steps: collecting visual, force and sound information through multiple sensors of a camera, a force sensor and a microphone array, and carrying out the preprocessing; according to the processed information, a diagonal gait, leg track and motion path planning scheme is generated by adopting a motion planning strategy; generating a specific control instruction to drive the robot to move, and monitoring and adjusting in real time; after the task is completed, the motion performance of the robot is evaluated, and a motion planning and control method is optimized according to an evaluation result; the autonomous motion ability and adaptability of the quadruped robot in a complex environment are improved.

The invention discloses a snake bone joint, a flexible joint assembly, a surgical operation arm and a surgical robot. The snake bone joint comprises two snake bone bases which can rotate based on respective pivots, the two pivots are parallel and have a constant distance, and the snake bone joint further comprises a first limiting structure and a second limiting structure which are arranged between the two snake bone bases. The first limiting structure comprises a first protrusion and a first groove which make contact with each other, the first protrusion is arranged on one snake bone base part, and the first groove is formed in the other snake bone base part. The second limiting structure comprises a second bulge and a second groove which are in contact with each other, the second bulge is arranged on one snake bone base part, and the second groove is arranged on the other snake bone base part; the pivot of one snake bone base is a first pivot, and the vertical distance between the first protrusion and the first pivot is larger than the vertical distance between the second protrusion and the first pivot. Therefore, the snake bone joint has the advantages of being high in bending precision and high in load deformation resistance.

The invention discloses a robot mechanical arm joint motion track planning and motion control method. The method comprises the steps that S1, high-precision vibration sensors are installed on a pipe joint and an end effector of a mechanical arm and calibrated; s2, starting a vibration sensor, collecting vibration data of each part in real time, and transmitting the data to a control system; s3, the control system carries out real-time calculation and analysis on the vibration data, and vibration abnormity of the mechanical arm in the operation process is recognized; s4, the mechanical arm is adjusted in real time according to the analysis result, and the stability and precision of the mechanical arm are guaranteed; and S5, storing related data of machine operation and adjustment, thereby facilitating later learning use. Through the technical means of the high-precision vibration sensor, real-time data acquisition and analysis, real-time adjustment, data storage and the like, the vibration condition of the mechanical arm can be monitored in real time, and the movement precision and stability of the robot mechanical arm are remarkably improved.

The invention discloses a line drive type biped robot leg structure which comprises a thigh support, a knee joint motor is arranged at the lower end of the thigh support, a shank support is connected to an output shaft of the knee joint motor, a foot assembly is movably connected to the lower end of the shank support and comprises a foot fixing piece, and a heel is connected to the rear portion of the foot fixing piece. The heel is connected with a line driving structure, the line driving structure comprises a first ankle joint motor, a second ankle joint motor, a first driving line wheel, a second driving line wheel, a first ankle joint line wheel and a second ankle joint line wheel, and a first transmission line is arranged between the first driving line wheel and the first ankle joint line wheel; a second transmission line is arranged between the second driving line wheel and the second ankle joint line wheel, a first crank swing rod structure is arranged between the first ankle joint line wheel and one side of the heel, and a second crank swing rod structure is arranged between the second ankle joint line wheel and the other side of the heel. The device has the advantages of being simple in structure and good in adaptability.

The invention provides a main shaft structure which comprises a pipeline disc, a rear end seat, a shaft core, a water retaining ring and a rear shaft core end cover, the rear end seat is located on the periphery of at least part of a shaft section of the shaft core, the pipeline disc and the rear end seat are arranged at intervals in the axial direction, and the water retaining ring is further arranged between the pipeline disc and the rear end seat. At least part of the structure of the water retaining ring is located on the periphery of at least part of the structure of the shaft core, the rear shaft core end cover is arranged at the axial upper end of the shaft core, a containing cavity is formed in the upper end of the rear shaft core end cover, a water outlet hole is formed in the water retaining ring, and the water outlet hole is located below the containing cavity and can be communicated with the containing cavity. Water in the containing cavity can be discharged out of the main shaft structure through the water outlet hole. Water can be effectively prevented from entering the motor at the lower end of the spindle structure, the waterproof sealing effect on the motor of the spindle structure is achieved, and the problem that in the prior art, water easily enters the motor of an electric spindle, and potential safety hazards are caused is solved.

The invention relates to the technical field of unmanned aerial vehicle launchers, in particular to a marine unmanned aerial vehicle launcher. The marine unmanned aerial vehicle launcher comprises a supporting frame, a bottom bracket, a telescopic piece, an angle adjusting assembly, a lifting frame, a front supporting assembly and a rear supporting assembly. The two ends of the telescopic pieces are rotationally connected with the supporting frame and the bottom bracket correspondingly, and the multiple telescopic pieces are arranged at intervals; the angle adjusting assembly is arranged on the bottom bracket and is in transmission connection with the lifting frame; the front supporting assembly and the rear supporting assembly are arranged on the lifting frame at intervals in the length direction of the lifting frame, and the front supporting assembly and the rear supporting assembly are both used for being connected with the unmanned aerial vehicle. The front supporting assembly locks or releases the lug rods through the lock catches, so that the levelness of the bottom bracket can be adjusted by adjusting the lengths of the multiple telescopic pieces, it is guaranteed that the levelness of the bottom bracket is within the set range, and therefore the launching accuracy of the unmanned aerial vehicle is guaranteed.

The utility model discloses a scanner for animal specimen restoration or fossil restoration, belongs to the technical field of three-dimensional scanning equipment, and provides a scanner which is used for animal specimen restoration or fossil restoration and is easier to use, the scanner comprises a base, a suspension mechanism is arranged on the base and is used for suspending an object needing to be scanned, and the suspension mechanism is arranged on the base. The base is fixedly connected with a rotating mechanism, the output end of the rotating mechanism is fixedly connected with a horizontal telescopic rod, the movable end of the horizontal telescopic rod is fixedly connected with a vertical telescopic rod through an adapter block, the movable end of the vertical telescopic rod faces upwards and is connected with a swing mechanism, and the swing mechanism is provided with an acquisition terminal; the acquisition terminal is suitable for acquiring surface structure information of a suspended object. According to the utility model, the data acquisition terminal is arranged at the tail ends of the rotating mechanism, the horizontal and vertical telescopic mechanism and the swinging mechanism, so that the acquisition terminal has flexibility which is not inferior to that of hand holding, manpower is liberated, and a worker can scan animal specimens or fossils more easily.

The utility model provides a silica cleaning device which comprises a driving roll shaft and an auxiliary roll shaft, a stainless steel mesh conveying belt is wound on the driving roll shaft and the auxiliary roll shaft, an arc-shaped baffle is arranged on one side of the auxiliary roll shaft, and two inclined baffles are welded to the rear end of the arc-shaped baffle. A first branch pipe, a second branch pipe and a third branch pipe are arranged on the upper portion of the driving roller shaft and the upper portion of the auxiliary roller shaft at equal intervals, and spraying heads are arranged on the lower portion of the first branch pipe, the lower portion of the second branch pipe and the lower portion of the third branch pipe at equal intervals respectively. And then silica is flushed through a first branch pipe, a second branch pipe and a third branch pipe, through the arrangement of an arc-shaped baffle and an inclined baffle, soil and gravel can be conveniently discharged and cannot enter the position below the driving roller shaft, and the movement stability of the driving roller shaft and the stainless steel mesh conveying belt is improved.

The invention relates to an autonomous cleaning and deicing method and system based on a multifunctional mechanical arm, and the method comprises the steps: obtaining the icing state information and surrounding environment information of a high-voltage power transmission line, and determining a cleaning strategy which comprises a water gun parameter and a mechanical arm motion parameter; the mechanical arm and a high-pressure water gun at the tail end of the mechanical arm are driven to deice based on the cleaning strategy, water gun parameters and mechanical arm motion parameters are monitored in real time in the deicing process, and the real-time water gun parameters and the real-time mechanical arm motion parameters are obtained; and calculating water spraying reaction force corresponding to the real-time water gun parameters, performing motion compensation on the mechanical arm based on the water spraying reaction force, and meanwhile, adjusting and controlling the real-time mechanical arm motion parameters until deicing is finished. According to the invention, accurate and efficient cleaning of ice coated on the high-voltage transmission line can be realized.

The invention belongs to the technical field of path planning and robot motion planning, and particularly relates to a multi-strategy fusion improved RRT * sampling planning method and device and a storage medium, and the method comprises the steps: constructing a dual-search tree through a starting point and a target point in a three-dimensional working space, and selecting a to-be-expanded search tree through a random mode; halton-Bridge mixed sampling is adopted to generate sampling points, so that the global coverage uniformity is improved, and the narrow channel sampling capability is enhanced; calculating the dynamic step length of the exponential decay based on the local obstacle proportion; adopting a hierarchical guidance expansion strategy, preferentially expanding towards a target, introducing an improved artificial potential field to guide expansion when the expansion fails, and taking the bottom with random expansion; performing RRT * neighborhood father node reselection and reconnection optimization on the new node; greedy pruning, self-adaptive interpolation and cubic B-spline smoothing are carried out on a path after the double trees are connected, and an executable smoothing track is output; according to the scheme, planning efficiency, success rate and path quality are improved.

This utility model discloses an injection mold for manufacturing control panel housings, relating to the field of control panel housing manufacturing technology. The utility model includes a mounting frame providing installation and stable support for the device, a vibration mechanism housed within the mounting frame, and a demolding mechanism for vibrating the mold during injection molding. Specifically, the vibration mechanism involves a motor driving the front rotating shaft to rotate, while a pulley system simultaneously drives the rear rotating shaft to rotate synchronously. Two impact wheels jointly strike the bottom of the lower mold, causing it to vibrate. During vibration, the lower mold, through the mounting plate, compresses the damping rod and spring, which work together to buffer the vibration and reduce violent shaking. This vibration mechanism reduces the viscosity of the molten plastic, promotes uniform filling of the cavity, assists demolding, simplifies the mold structure, and reduces cost and maintenance difficulty.

The utility model relates to lathe technical field provides a good micro - numerical control lathe of chip removal, solve the problem that lathe horizontal work surface falls the chip not easy clearance and the chip falls into the guide rail and influences the problem of tool rest feed. Scheme, the work surface of bed body is inclined surface, the lathe still includes: X axle assembly, include: a) X axle bottom plate, set up on the work surface of bed body, have X axle guide rail on it, b) workbench, slide connection in X axle guide rail, its upper portion is fixed with tool rest, c) first linear drive assembly, drive workbench and move along X axle direction, d) X axle protection assembly, install in workbench X axle direction both ends, protect X axle guide rail, Z axle assembly, include: a) Z axle guide rail, set up in the work surface of bed body, X axle bottom plate bottom slide connection in Z axle guide rail, b) second linear drive assembly, drive X axle bottom plate and move along Z axle direction, c) Z axle protection assembly, install in X axle bottom plate Z axle direction both ends, be used for protecting Z axle guide rail.

The invention relates to the technical field of urban construction, in particular to a kerb and tile visual grabbing control system. A kerb and tile visual grabbing control system comprises a visual identification module, a system control module and a six-axis mechanical arm module, the six-axis mechanical arm module comprises a mechanical arm main body and an auxiliary control assembly, the mechanical arm main body is used for grabbing and laying kerbs and tiles, and the auxiliary control assembly is used for controlling the mechanical arm main body. The mechanical arm body comprises a supporting arm, a lifting arm, a swing arm and a mechanical claw which are sequentially and rotationally connected, and the auxiliary control assembly is connected between the front end of the supporting arm and the front end of the swing arm and used for supporting the mechanical arm body and reducing the equipment load. According to the mechanical arm, the torque generated to the front end of the swing arm when the mechanical claw grabs a heavy object can be effectively shared, the load of each joint motor is greatly reduced, and therefore the structural rigidity and the movement stability of the whole mechanical arm under the heavy-load and large-arm-span working conditions are enhanced, and the precision and stability of the laying action are ensured.

This disclosure relates to a lidar, a scanner for the lidar, and an apparatus. The lidar includes a transmitter and a scanner. The transmitter is configured to emit a probe light. The scanner is configured to oscillate about a rotation axis within an oscillation range, deflecting the probe light into a field of view. The oscillation range includes a first fixed-speed region, a first variable-speed transition region, and a second fixed-speed region along a first direction. The first direction is perpendicular to the rotation axis. The scanner rotates at a greater speed in the first fixed-speed region than it rotates at the second fixed-speed region. In the first variable-speed transition region, the scanner's rotational speed varies with angle according to a half-period cosine function.

The utility model provides a kind of rhythmic vibration machine, it is related to fitness equipment technical field, including base, lower support, upper support and pedal, lower support is fixed with base, upper support is fixed with pedal, and lower support is equipped with rhythmic module, including drive motor, pivot and the cam connected with pivot by eccentric bearing, drive motor drives pivot by transmission mechanism, drives cam to make upper support rhythmic up and down;Meanwhile, vibration module is equipped on the side of upper support away from drive motor, for generating high-frequency vibration. By efficiently integrating rhythmic and vibration function in one, compact structure, and the stability of both simultaneous operation is improved by effectively avoiding motion interference with the layout of the two, so that users can simultaneously obtain the dual effect of full-body rhythmic exercise and local muscle deep relaxation.

The utility model relates to a carrier roller device with a deviation rectifying function, which comprises a supporting cross beam, the top of the supporting cross beam is provided with supporting mechanisms which are symmetrically arranged in a matched mode, the two supporting mechanisms are connected through a connecting roller wheel, and the two supporting mechanisms and the connecting roller wheel support a conveying belt at the same time. Each supporting mechanism structurally comprises a first bracket and a second bracket spaced from the first bracket, a plurality of first mounting grooves are formed in the end face of the first bracket, a second mounting groove is formed in the end face of the second bracket, the first bracket is rotationally mounted at one end of the supporting roller through the first mounting groove, and the second bracket is rotationally mounted at the other end of the supporting roller through the second mounting groove. And the second bracket is rotationally mounted with the other end of the supporting roller through the second mounting groove, so that the first bracket and the second bracket simultaneously support the supporting roller to rotate. The conveying belt can be rectified in time, material scattering is avoided, and material waste is prevented; meanwhile, deviation rectifying operation is convenient and fast, downtime is saved, and production efficiency is guaranteed.

This application discloses a piston-type multi-way valve and a water softener, comprising: a housing having a cavity, a first guide hole, and a second guide hole, the first guide hole communicating with the cavity; a sealing piston movably disposed within the cavity; a drive mechanism disposed on the housing; and a movable component having a first connecting portion and a second connecting portion, the first connecting portion slidably passing through the first guide hole and connected to the sealing piston, the second connecting portion being connected to the output end of the drive mechanism and slidably inserted into the second guide hole. By providing the first and second guide holes on the housing, the first connecting portion of the movable component slides within the first guide hole, and the second connecting portion of the movable component slides within the second guide hole, forming a dual-point cooperative guiding structure. This effectively limits the radial sway of the movable component during long-distance reciprocating motion, ensuring the straightness and stability of its motion trajectory, and improving the motion stability of the movable component.

This invention discloses an independently waterproof modular biomimetic oscillating fin, belonging to the field of underwater propulsion technology. It includes a base sealing assembly with a static waterproof structure, a DC motor fixed within the base sealing assembly, a swing arm assembly operatively connected to the motor output shaft of the DC motor, and a dynamic waterproof structure disposed between the base sealing assembly and the swing arm assembly. The working end of the motor output shaft is inclined; when the output shaft rotates, the swing arm reciprocates through the transmission action of a limiting post, thereby driving the fin-like surface to generate propulsion. Simultaneously, this invention provides a simple method for manufacturing a waterproof membrane, enabling rapid fabrication of the membrane required for the dynamic waterproof structure. This invention, employing a modular design, an efficient propulsion scheme, and a simple and flexible waterproofing solution, effectively overcomes the limitations of traditional underwater biomimetic oscillating fins, which suffer from complex assembly, limited waterproofing solutions, and high costs. It is of great significance for promoting the development of underwater propulsion technology.

The invention discloses a robot control method based on active disturbance observation and phase coupling control, and the method comprises the steps: collecting the current state quantity of a robot in real time, and constructing a joint space dynamic model; generating state estimation and disturbance estimation in the joint space dynamic model; a phase parameterization method is adopted to map the phase of the multi-degree-of-freedom action to an expected trajectory, and a closed-loop trajectory tracking and disturbance compensation control law is designed in combination with disturbance estimation and a sliding manifold mechanism; according to the method, a position error transformation design continuously-derivable robot auxiliary level function is introduced, the stability is analyzed by adopting a Lyapunov method, and a closed-loop trajectory tracking and disturbance compensation control law and a coupling gain adaptive law are substituted into a time derivative of a candidate Lyapunov function to complete the control of the robot. The control output can be kept smooth and continuous, instruction sudden change or attitude instability is avoided, high action success rate and landing stability can still be maintained when the environment changes, and the landing impact load peak value is effectively reduced.

The utility model relates to the technical field of inspection well cleaning, and discloses a cleaning mechanism and a cleaning device, the cleaning mechanism comprises a base, a moving assembly, a cleaning assembly and an auxiliary wheel assembly, the moving assembly comprises two moving wheel groups, the two moving wheel groups are slidably arranged on the bottom surface of the base along the moving direction of the cleaning mechanism and drive the cleaning mechanism to move, the cleaning assembly comprises a first cleaning assembly and a second cleaning assembly, the first cleaning assembly and the second cleaning assembly are arranged on the base at intervals, one end of the auxiliary wheel assembly is installed on the bottom surface of the base, and the other end is used for abutting against the outer side wall of the inspection well, the two moving wheel groups can slide along the direction perpendicular to the moving direction of the cleaning mechanism to adjust the horizontal distance between the moving wheel groups and the auxiliary wheel assembly, so that the moving wheel groups and the auxiliary wheel assembly can more evenly disperse the gravity of the cleaning mechanism to themselves, and the moving stability of the cleaning mechanism is improved.

The invention discloses a coil spring take-up and pay-off mechanism of a spiral lifting mechanism. A guide take-up and pay-off assembly comprises an upper guide assembly and a lower guide assembly. The upper guide assembly comprises a main guide wheel vertically arranged on the lifting base, an upper arc-shaped elastic piece fixedly arranged on the upper side of the bottom wall of the spring coiling disc and an upper elastic supporting body located at the free end of the upper arc-shaped elastic piece. The lower guiding assembly comprises a lower arc-shaped elastic piece fixedly arranged on the lower side of the bottom wall of the spring coiling disc and a lower elastic supporting body located at the free end of the lower arc-shaped elastic piece, and the upper arc-shaped elastic piece and the lower arc-shaped elastic piece are located at the two ends of the arc-shaped opening correspondingly and are oppositely arranged. The upper elastic supporting body and the lower elastic supporting body are spaced in the vertical direction and the horizontal direction. The transverse coil spring passes through the lower surface of the lower elastic supporting body from bottom to top and penetrates through the arc-shaped opening to be wound between the main guide wheel and the upper elastic supporting body, and the upper arc-shaped elastic piece and the lower arc-shaped elastic piece conduct self-adaptive adjustment on the retracting and releasing angle of the transverse coil spring.

The invention relates to the technical field of aluminum profile machining, in particular to double-station aluminum profile cutting equipment which comprises a workbench, a frame body is arranged in the middle of the workbench, and a set of cutting assemblies arranged in a mirror image mode are arranged on the frame body. The workbench located on the two sides of the frame body is each provided with a set of guide bases arranged in parallel at intervals, the length direction of the guide bases is consistent with the length direction of the workbench, a plurality of limiting blocks are horizontally arranged on the inner sides of the guide bases at intervals, moving blocks are slidably connected to the upper surfaces of the guide bases, and a rectangular frame is integrally arranged at the bottoms of the moving blocks. Vertical sliding rails are arranged on the outer surfaces of the two sides of the rectangular frame, sliding blocks are vertically connected to the sliding rails in a sliding mode, blind holes are formed in the left end face and the right end face of each sliding block, horizontal compression springs are arranged in the blind holes, and locking blocks are movably connected into the blind holes in an inserted mode. The method is suitable for industrial production and has very high practicability.

The embodiment of the invention provides a robot control method and device, electronic equipment and a storage medium, and relates to the technical field of robots. The robot control method comprises the steps that in response to collision of a robot, an expected joint angle is selected from joint angles of all joints of the robot at multiple historical moments, based on the current expected joint angle, according to a first determination mode, the impedance torque of the robot is determined, and according to the impedance torque of the robot, the robot is controlled. And calculating the output torque of the robot, controlling the robot to move according to the output torque of the robot, and returning to the step of selecting the expected joint angle from the joint angles of the joints of the robot at the plurality of historical moments. Therefore, according to the scheme, the robot can be effectively protected after collision happens to the robot.

This invention relates to a rigid-flexible coupling collaborative aerospace blade grinding robot, comprising a frame, a lifting mechanism within the frame, and an auxiliary gripper, a conveyor belt, and a grinding mechanism at the bottom of the frame. The lifting mechanism includes a primary platform, a secondary platform, and a self-locking gripper arranged sequentially from top to bottom. The primary platform is connected to a first drum in the primary platform control mechanism via a first flexible cable, and the self-locking gripper is connected to a second drum in the gripper attitude control mechanism via a second flexible cable. As can be seen from the above technical solution, this invention features rigid-flexible coupling, high efficiency, modular reconfigurability, large workspace, stable grinding quality, and full-process automation. Furthermore, this robot can automatically complete clamping, omnidirectional grinding, and lifting tasks, and is adaptable to grinding aerospace blades of different sizes and structures.

The application discloses a parallel hole damping-spiral tube inerter underwater damping device and belongs to the technical field of underwater vibration control. The device comprises an upper shell, a lower shell, a damping spring, an open small hole damping and an open fluid inerter. The upper shell and the lower shell are two parts in relative sliding. The damping spring and the open small hole damping are assembled in parallel to form an integral body, which together constitutes an open spring damping. The open spring damping and the open fluid inerter are connected in parallel, and the upper and lower ends of the two are respectively fixed to the upper shell and the lower shell. The open small hole damping and the open fluid inerter are both installed in the upper shell and the lower shell. The application adopts a parallel topology structure of inerter, damping and spring. The double spiral pipes and the symmetrical piston rods realize the fluid inerter effect in two directions. The small holes on the damping piston realize the speed-dependent throttling damping. The device has the characteristics of wide frequency vibration isolation, strong static load capacity, symmetrical positive and negative characteristics and deep water environment.

This utility model relates to the field of wall flatness testing technology, and discloses a wall flatness testing device, including a base and four universal wheels. A fixed housing is located at the center of the upper surface of the base. A lead screw moving device is located at the center of the interior of the fixed housing. A moving block is threadedly connected to the center of the outer side of the lead screw moving device. A lubrication device is located at the center of the upper surface of each fixed housing. A moving housing is located at the center of the front end face of each moving block. A toothed belt is located at the center of the rear inner wall of each moving housing. A moving rod is slidably connected inside a sliding groove. A transmission wheel is located at the center of the rear end face of the moving rod. A fixed block is located at the center of the front end face of the moving rod. A flatness testing instrument is located at the center of the fixed block. In this utility model, the lubrication device enables efficient movement of the flatness testing instrument and increases the motion accuracy and stability of the device, thereby improving the lubrication effect.

The present application relates to a kind of stator coil structure and magnetic levitation plane motor for magnetic levitation plane motor.The stator coil structure includes multiple groups of shaping coils and multiple groups of long strip coils, each group of shaping coils and corresponding group of long strip coils form a group of coil combination units;Multiple groups of coil combination units are arranged according to predetermined coil period, for interacting with the mover permanent magnet array located above or below when energized, generate horizontal direction driving force and / or vertical direction suspension force;Each group of shaping coils and long strip coils are arranged alternately, and the shaping coil is used to fill the space gap formed by the arrangement of long strip coil, to improve the effective conductor ratio and coil slot fill factor in stator plane.The present application increases the effective conductor area involved in electromagnetic force under the premise that the heat dissipation condition and thermal power remain basically unchanged, so as to improve the output force density of magnetic levitation plane motor.

The utility model discloses an annular conveying mechanism and functional film detection equipment. The annular conveying mechanism comprises a supporting frame, a conveying disc and a driving mechanism. The supporting frame is provided with an annular track connected end to end, and a first guide structure is annularly arranged on the peripheral wall of the annular track. A guide wheel is arranged on the bottom wall of the conveying disc, the guide wheel is pivotally connected with the conveying disc, a second guide structure is annularly arranged on the peripheral wall of the guide wheel, and the first guide structure and the second guide structure are in guiding and limiting fit; the driving mechanism is in transmission connection with the conveying disc and used for driving the conveying disc to circularly move along the annular track. The first guide structure and the second guide structure are in limiting fit, so that the offset stroke of the conveying disc relative to the annular track can be limited, the offset of the conveying disc relative to the annular track can be reduced, the detection camera can completely cover the covering functional film, and then the detection accuracy of the detection result can be improved.

The invention provides underwater refueling equipment which is used for realizing refueling work of a reactor, the reactor comprises a pressure vessel, a fuel assembly is arranged in the pressure vessel, and the equipment comprises a bridge type platform arranged above the pressure vessel; the refueling device is movably arranged on the bridge type platform and comprises a fuel clamping unit; the fuel clamping unit comprises a driving assembly arranged on the bridge type platform; the fixed sleeve is fixedly arranged relative to the driving assembly; the driving sleeve is connected to the driving assembly, and the driving assembly can drive the driving sleeve to reciprocate in the fixed sleeve in the axial direction; the at least two stages of driven sleeves are sequentially nested and slidably arranged in the driving sleeve in the axial direction, the at least two stages of driven sleeves are connected with the driving sleeve through a transmission assembly, and the transmission assembly can transmit the axial displacement of the driving sleeve to the driven sleeve on the innermost layer according to a first preset proportion; the driven sleeve execution assembly arranged on the innermost layer can clamp or place a fuel assembly.