Underwater welding robot mobile carrier

Abstract

The invention discloses an underwater welding robot mobile carrier. The carrier is used for carrying a welding operation device to walk in a water pool and carry out welding and comprises a vehicle body module, a walking module and a camera shooting module, wherein the walking module drives the vehicle body module to walk, the camera shooting module is used for collecting images under a spent fuelpool, the camera shooting module comprises a camera, an underwater lamp, a base, a sliding rod, a support, a driving assembly and a pan tilt, wherein the base is installed on the vehicle body module,the sliding rod is inserted in the base in a clamping mode with multiple sections, the sliding rod is connected with the support, the pan tilt is further provided with a mounting rod which protrudesand extends transversely, and the driving assembly drives the pan tilt to horizontally rotate and drives the mounting rod to rotate in the vertical direction. According to the carrier, rotating of thepan tilt and rotating of the mounting rod synchronously drive the camera to rotate, so that the camera can be adjusted in three dimensions under the water, the imaging effect and the comprehensiveness of underwater image capturing are effectively improved, so that a powerful guarantee is provided for accurate welding of welding seams through the welding operation device, and the welding operationdevice has high practicability.

Description

technical field [0001] The invention relates to equipment for nuclear power plants, in particular to a mobile carrier for an underwater welding robot used to carry a welding operation device for walking and welding in a water pool. Background technique [0002] Nuclear power plants can guarantee their safety from the perspective of technology and management, but after experiencing severe natural disasters (such as earthquakes, tsunamis, typhoons, etc.) risks of. In the basic accidents and emergency accidents of nuclear power plants, accidents such as pool cracks, holes, and breaches may occur, and underwater detection, leak plugging and welding must be implemented. However, nuclear power plant reactors and spent fuel pools are highly radioactive, and many operations usually need to be carried out underwater. Therefore, underwater robots can play an important role in pool maintenance and emergency operations. Compared with the traditional emergency treatment methods in the ...

AI Technical Summary

Problems solved by technology

[0004] The underwater welding robot mainly includes the welding operation device and the mobile carrier carrying the welding operation device. During the walking process carrying the welding operation device, the mobile carrier collects the surrounding images and transmits them to the ground operators in real time. The underwater image controls the mobile carrier to walk underwater, the welding operation device reaches the welding position area driven by the mobile carrier, and performs the welding operation under the instructions of the ground personnel, thereby completing the underwater welding; but the existing camera on the mobile carrier They are all fixed, and the angles of view of the images they provide are fixed, and cannot adapt to changes in the surrounding environment to adjust the angle of view, resulting in poor and incomplete underwater images transmitted to ground personnel, which in turn leads to ground Personnel cannot fully understand the position information that needs to be welded underwater, which affects the work efficiency and effect of the operation, and may lead to missing welding and other situations; this kind of fixed image viewing angle transmission is especially suitable for some corners, folded edges and other non-flat parts of underwater images, the monitoring effect is even worse

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