A full-flexible continuum detection robot for nuclear power complex scene

Abstract

The application discloses a full-flexible continuum detection robot for nuclear power complex scenes, which comprises a head detection driving mechanism, a limb self-adaptive obstacle surmounting mechanism and a tail counterweight mechanism; the limb self-adaptive obstacle surmounting mechanism is composed of N flexible actuator modules, N-1 module connecting assemblies and 1-N gas-liquid driving units; the flexible actuator modules are connected through the module connecting assemblies; at most one gas-liquid driving unit is arranged on each flexible actuator module; each flexible actuator module comprises a flexible actuator frame body, at least two flexible spherical cavities, at least two elastic water storage bags and at least two rigid shafts; the gas-liquid driving unit is used for inflating or deflating the flexible spherical cavities and for water injection or drainage of the elastic water storage bags; the tail counterweight mechanism is hinged to the flexible actuator frame body of the last flexible actuator module, so that the overall structural gravity center is kept stable. The application has the advantages of simple and compact structure, high integration degree and strong function extensibility.

Description

Technical Field

[0001] This invention relates to the field of nuclear power equipment testing equipment, specifically a fully flexible continuum testing robot for complex nuclear power scenarios. Background Technology

[0002] Nuclear power generation, characterized by its cleanliness and efficiency, offers significant advantages over traditional thermal power generation. Against the backdrop of vigorous development of clean energy, the construction speed and installed capacity of nuclear power units are rapidly increasing. However, while nuclear energy provides efficient and clean energy, it is also susceptible to potential accident risks due to unpredictable natural disasters. Timely inspection of equipment at the accident site after a nuclear accident is crucial for tracing the cause of the accident, assessing the real-time situation, and minimizing damage to personnel and the environment.

[0003] The main existing detection equipment used in nuclear accident scenarios are as follows:

[0004] The document with application number 202320072772.0 discloses a wheeled multi-axis heat jacket inspection robot. The robot's self-balancing wheel assembly is driven by a motor and can move on relatively flat ground. However, its electrical components have low radiation resistance and are prone to failure in irradiated environments. It has poor survivability in nuclear environments and is limited by its wheeled drive method, resulting in a relatively limited application scenario.

[0005] The document with application number 202210985421.9 discloses a tracked walking mechanism with adjustable angle that can adapt to different tunnel bottom surfaces. It adopts a tracked mobile mechanism and has a certain terrain adaptability. However, it adopts a single-section layout and a single drive source. When crossing obstacles, there are no other devices to provide auxiliary driving force, making it difficult to cross large and complex obstacles, and the overall obstacle crossing performance is poor.

[0006] The document with application number 202220885847.2 discloses a double helix driven amphibious inspection robot. The robot uses a double helix actuator to provide the power for movement, which can initially achieve efficient movement in relatively complex terrains. However, its power comes from the interaction between the rigid helix and the ground. The mechanism has poor flexibility and it is difficult to achieve adaptive fitting between the rigid helix and complex terrain, resulting in insufficient terrain adaptability and motion stability.

[0007] In summary, while existing nuclear power plant inspection robots can initially perform inspection work in specific, simple nuclear power plant scenarios, they generally suffer from prominent problems such as limited operational scenarios, poor obstacle-crossing performance, and insufficient adaptability to nuclear environments. Therefore, there is an urgent need to develop a nuclear power equipment inspection robot with amphibious capabilities, the ability to navigate complex terrain, and superior adaptability to nuclear environments. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the technical problem this invention aims to solve is to provide a fully flexible continuum inspection robot for complex nuclear power plant scenarios.

[0009] The technical solution of the present invention to solve the aforementioned technical problem is to provide a fully flexible continuum inspection robot for complex nuclear power plant scenarios, characterized in that the robot includes a head detection drive mechanism, a limb adaptive obstacle-crossing mechanism, and a tail counterweight mechanism;

[0010] The head detection drive mechanism includes a radiation-resistant camera, a cover, a piezoelectric drive module, a housing, a mounting shaft, and a passive wheel;

[0011] The limb adaptive obstacle crossing mechanism consists of N flexible actuator modules, N-1 module connection components, and 1 to N pneumatic-hydraulic drive units; the flexible actuator modules are connected to each other through the module connection components; each flexible actuator module is provided with at most one pneumatic-hydraulic drive unit;

[0012] Each flexible actuator module includes a flexible actuator frame, at least two flexible spherical cavities, at least two elastic water reservoirs, and at least two rigid shafts; each module connection assembly includes flexible shafts; the gas-liquid drive unit is used to inflate or deflate the flexible spherical cavities and to fill or drain the elastic water reservoirs.

[0013] The housings of at least two piezoelectric drive modules are fixed inside the box, with their output shafts extending out of the box and connected to one end of the rigid shaft of the first flexible actuator module, providing driving force for the robot; the box cover is sealed and installed on the top of the box; a radiation-resistant camera is rotatably mounted on the box cover via a camera bracket, enabling comprehensive monitoring and identification of the water and land environment, adapting to complex underwater application scenarios in nuclear power plants; passive wheels are rotatably mounted on both sides of the box via their respective mounting shafts;

[0014] At least two rigid shafts are rotatably mounted on the bottom of the flexible actuator frame; the two ends of the flexible shafts are respectively connected to one end of the rigid shaft of two flexible actuator modules; the end of the rigid shaft of the last flexible actuator module is left unattended; at least two flexible spherical cavities are sealed around the circumference of each rigid shaft and distributed radially along the rigid shaft; helical blades are evenly distributed on the outer surface of the flexible spherical cavities, and when the robot moves, the rotation of the helical blades generates a reaction thrust; at least one elastic water reservoir is provided inside each flexible spherical cavity, and the elastic water reservoir is sealed around the circumference of the rigid shaft; the rigid shaft is hollow inside; the flexible shaft is hollow inside;

[0015] The tail counterweight mechanism is hinged to the flexible actuator frame of the last flexible actuator module and is used to counterweight the robot to maintain the stability of the overall structure's center of gravity.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] (1) Based on the high frequency, strong force and small displacement output characteristics of piezoelectric crystal, the present invention integrates a piezoelectric drive module with drive and control, which has high precision and strong power characteristics. Compared with the traditional motor drive method, it has strong radiation resistance and can meet the detection needs in the complex nuclear power scenario.

[0018] The piezoelectric drive module uses a cascaded piezoelectric stack as the power element of the piezoelectric pump body to amplify displacement. Utilizing its excellent dynamic characteristics, the piezoelectric drive module achieves high-frequency vibration to provide high output torque. The piezoelectric pump uses a fluid medium to transmit power. The inverse piezoelectric effect of the piezoelectric crystal causes the piezoelectric stack to reciprocate and deform in the longitudinal direction. The volume of the sealed pump chamber changes periodically due to this deformation, achieving a quantitative and continuous flow of the fluid medium. By adjusting the voltage and frequency applied to both ends of the piezoelectric stack, its vibration amplitude is controlled, thereby controlling the output flow rate of the minute medium within one cycle and precisely adjusting the rotation angle of the hydraulic motor's output shaft. Furthermore, one-way valves are installed at both the oil outlet and inlet of the piezoelectric pump body to control unidirectional flow of the medium. Two directional valves are also used to achieve piezoelectric hydraulic drive steering, thereby driving the hydraulic motor to rotate in both directions. Compared to traditional electric motors or hydraulic drives, piezoelectric drives offer stronger anti-interference capabilities, enabling precise and continuous stepping of robots in high-irradiation nuclear power environments, thus enhancing the robot's anti-interference capabilities. Furthermore, by using liquids or gases as the transmission medium, leakage risks are avoided while providing strong radiation resistance, meeting the demands of complex nuclear power applications.

[0019] (2) The limb adaptive obstacle crossing mechanism of the present invention adopts a multi-level serial module form, combined with the tail adaptive counterweight mechanism, and supplemented by the mutual supplementation and superposition of the driving force between each flexible actuator module, which greatly improves the overall passability of the robot in complex terrain and meets the detection requirements in the complex environment of nuclear power.

[0020] The limb adaptive obstacle crossing mechanism consists of N identical flexible actuator modules connected in series via module connection components. The modular design allows the robot to flexibly select the number of connected modules when facing different working environments.

[0021] The flexible actuator module adopts a dual-chamber design. The outer chamber is a flexible spherical cavity fixed to the rigid shaft sidewall. Each flexible spherical cavity is connected via an air duct. Inflation and deflation are performed using an inflation piezoelectric pump and an deflation piezoelectric pump to form a gas inflation / deflation circuit. The size of each spherical cavity is dynamically adjusted to actively adapt to changes in ground curvature. At the same time, the high elasticity of the flexible spherical cavity enables its outer surface to passively conform to the terrain surface, significantly improving the robot's active / passive ground contact capability in complex terrain.

[0022] The modular connection components enable passive flexible deformation during robot turning and obstacle-crossing movements. Combined with multi-stage cascading of flexible actuator modules, various robot configurations can be achieved, allowing the robot to overcome multiple types of obstacles and improving its obstacle-crossing performance from a terrain adaptation perspective. When traversing large obstacles, a chain-like propulsion method using multiple flexible actuator modules is employed, allowing the driving forces of each module to complement and superimpose during obstacle crossing, achieving the continuous propulsion effect of a single drive module and further enhancing the robot's obstacle-crossing performance from a driving force perspective.

[0023] Due to gravity, the counterweight mechanism ensures that the counterweight wheels of each module are always in contact with the ground. They can also swing up and down according to the terrain or obstacles, passively adjusting their motion posture with unrestricted freedom. When encountering steps or potholes, they can passively adjust their motion posture, improving the robot's obstacle clearance and passive adaptability in complex terrain environments. When turning or climbing over large obstacles, they can use their own weight to keep the center of gravity of the overall structure stable, enabling the robot to smoothly climb over large obstacles.

[0024] The combination of the robot's active / passive ground contact performance and its ability to overcome various types of obstacles significantly improves the robot's overall passability in complex terrains, meeting the inspection needs of the complex environment of nuclear power plants.

[0025] (3) The present invention uses a flexible actuator module with a dual-compartment design as the drive execution unit. It uses a piezoelectric pump to inject / drain the inner compartment and inflate / de-inflate the outer compartment, so that the robot can float freely in the water. This enables the robot to have multiple movement modes such as land, water surface and underwater, and can realize multi-scenario operation of the robot in nuclear power environment, meeting the requirements of complex nuclear power field testing.

[0026] The flexible actuator module adopts a dual-chamber design. The elastic water storage bladder is made of high-elasticity material, and the inner space is the inner chamber. Each elastic water storage bladder is connected through a water supply pipe. The water inlet / outlet operation is performed by the drain piezoelectric pump and the water outlet piezoelectric pump to form a liquid inlet / outlet circuit.

[0027] When the robot wade through water, it floats on the surface by utilizing the low-density properties of the gas within each flexible spherical cavity. For underwater and bottom inspection operations, based on the quantitative output characteristics of the piezoelectric pump and according to different underwater operating environments and depth requirements, the piezoelectric pump can be controlled to precisely control the water volume of the elastic water reservoir and the air volume of the flexible spherical cavities by controlling the injection / drainage of the inner chambers and the inflation / deflation of the outer chambers of the flexible actuator, thereby enabling the robot to freely float and dive in the water.

[0028] The piezoelectric drive module provides driving force to the flexible actuator module, enabling each rigid shaft 2 to rotate at high speed. At the same time, the helical blades utilize the reaction thrust of mud or water on their surface to achieve omnidirectional movement of the robot on and under water. Therefore, the robot has multi-amphibious movement modes on land, water, and underwater, meeting the requirements of complex nuclear power plant on-site inspection.

[0029] (4) The present invention has a simple and compact structure, high integration, convenient installation and operation, and strong functional extensibility.

[0030] This device features a slender, elongated structure with a simple, compact design and high integration. The robot's detection probe can be replaced with various other functional modules. Combined with the multi-module limbs connected in series, it possesses characteristics such as amphibious capability, efficient mobility, low noise, and strong adaptability. Through reasonable structural design and size matching, it can also move and operate in various narrow spaces, such as inside oil and gas pipelines. The robot's functions and application scenarios are highly scalable. Attached Figure Description

[0031] Figure 1 This is a front view schematic diagram of the overall structure of the present invention when it is in an upright position;

[0032] Figure 2 This is an exploded view of the head detection drive mechanism of the present invention;

[0033] Figure 3 This is a schematic diagram of the piezoelectric drive module of the present invention;

[0034] Figure 4 This is a schematic diagram of the internal structure of the mounting housing of the present invention;

[0035] Figure 5 This is a cross-sectional view of the piezoelectric pump body of the present invention;

[0036] Figure 6 This is a schematic diagram illustrating the working principle of the piezoelectric drive module of the present invention;

[0037] Figure 7 This is a schematic diagram of the flexible actuator module of the present invention;

[0038] Figure 8 This is a schematic diagram illustrating the working principle of the gas-liquid drive unit of the present invention;

[0039] Figure 9 This is a schematic cross-sectional view of the installation of the connecting flange and the rigid shaft according to the present invention;

[0040] Figure 10 This is a cross-sectional view of the module connection component of the present invention;

[0041] Figure 11 This is a schematic diagram of the tail counterweight mechanism of the present invention;

[0042] Figure 12 This is a schematic diagram of the passive adaptive terrain of each flexible actuator module of the present invention;

[0043] Figure 13 This is a schematic diagram of the bending obstacle-crossing structure of the present invention;

[0044] Figure 14 This is a schematic diagram illustrating the scalability and obstacle-crossing capabilities of the present invention;

[0045] Figure 15 This is a schematic diagram of the robot of the present invention floating on the water surface;

[0046] Figure 16 This is a schematic diagram of the robot of the present invention floating in water;

[0047] Figure 17 This is a schematic diagram of the robot of the present invention moving underwater.

[0048] In the figure, there is a head detection and drive mechanism 1, a limb adaptive obstacle crossing mechanism 2, and a tail counterweight mechanism 3.

[0049] Radiation-resistant camera 11, camera bracket 12, case cover 13, head detection drive mechanism coupling 14, piezoelectric drive module 15, case 16, mounting shaft 17, driven wheel 18;

[0050] 151 piezoelectric pump body, 152 mounting housing, 153 oil outlet line, 154 oil inlet line, 155 hydraulic motor, 156 drive module mounting base, 157 oil outlet line check valve, 158 oil outlet line directional valve, 159 piezoelectric sensor, 1510 oil inlet line check valve, 1511 oil inlet line directional valve;

[0051] Pump cover 151-1, piezoelectric stack one 151-2, sleeve 151-3, piezoelectric stack two 151-4, top block connecting shaft 151-5, pump housing 151-6, disc spring 151-7, rigid top block 151-8, pump chamber diaphragm 151-9, partition plate 151-10, oil outlet 151-11, oil inlet 151-12, bottom plate 151-13;

[0052] Flexible actuator module 21, module connection assembly 22, pneumatic-hydraulic drive unit 23;

[0053] Flexible actuator frame 211, flexible spherical cavity 212, elastic water storage bladder 213, rigid shaft 214, helical blade 215, hose clamp 216;

[0054] Flexible shaft 221, connecting spring 222, circular chuck 223;

[0055] Water supply pipe 231, drainage piezoelectric pump 232, water injection piezoelectric pump 233, gas storage cylinder 234, air guide pipe 235, air filling piezoelectric pump 236, air releasing piezoelectric pump 237, connecting flange 238, clamp 239;

[0056] 31. Connecting rod assembly, 32. Counterweight wheel, 33. Axle, 34. Positioning ring, 35. Universal coupling, 36. Tail hinge seat. Detailed Implementation

[0057] Specific embodiments of the present invention are given below. These specific embodiments are only used to further illustrate the present invention in detail and do not limit the scope of protection of the claims of the present invention.

[0058] The present invention provides a fully flexible continuum inspection robot (hereinafter referred to as the robot) for complex nuclear power plant scenarios, characterized in that the robot includes a head detection drive mechanism 1, a limb adaptive obstacle crossing mechanism 2 and a tail counterweight mechanism 3;

[0059] The head detection drive mechanism 1 includes a radiation-resistant camera 11, a camera bracket 12, a cover 13, a head detection drive mechanism coupling 14, a piezoelectric drive module 15, a housing 16, a mounting shaft 17, and a driven wheel 18; the head detection drive mechanism 1 is completely sealed to ensure the normal operation of the piezoelectric drive module 15.

[0060] The limb adaptive obstacle crossing mechanism 2 consists of N flexible actuator modules 21, N-1 module connection components 22, and 1 to N pneumatic-hydraulic drive units 23 connected in sequence (N≥1, N=3 in this embodiment); the flexible actuator modules 21 are connected to each other through the module connection components 22; each flexible actuator module 21 is provided with at most one pneumatic-hydraulic drive unit 23;

[0061] Each flexible actuator module 21 includes a flexible actuator frame 211, at least two flexible spherical cavities 212, at least two elastic water reservoirs 213, and at least two rigid shafts 214; each module connection assembly 22 includes a flexible shaft 221; the gas-liquid drive unit 23 is used to inflate or deflate the flexible spherical cavities 212, and to inject or drain water into the elastic water reservoirs 213;

[0062] At least two piezoelectric drive modules 15 have their housings fixed inside the housing 16. Their output shafts extend out of the housing 16 and are connected to one end of the rigid shaft 214 of the first flexible actuator module 21 via the head detection drive mechanism coupling 14, providing driving force for the entire robot. The housing cover 13 is detachably (in this embodiment, it is threaded) sealed and installed on the top of the housing 16. The bottom of the camera bracket 12 is detachably (in this embodiment, it is threaded) sealed and installed on the top of the housing cover 13. The radiation-resistant camera 11 is rotatably mounted on the top of the camera bracket 12, enabling comprehensive monitoring and identification of both land and water environments, adapting to complex underwater applications in nuclear power plants. Two passive wheels 18 are non-coaxially rotatably mounted on both sides of the housing 16 via their respective mounting shafts 17, achieving differential rotation during robot movement. The passive wheels 18 are not powered by a drive device and serve a supporting and auxiliary function.

[0063] At least two rigid shafts 214 (at least two capable of differential steering, while preventing rollover and improving stability) are mounted symmetrically and parallel to each other at the bottom of the flexible actuator frame 211 via angular contact ball bearings at the stepped bore shoulders; both ends of the flexible shaft 221 are connected to one end of the rigid shaft 214 of the two flexible actuator modules 21 respectively via couplings; the end of the rigid shaft 214 of the last flexible actuator module 21 is left unloaded; at least two (three in this embodiment) flexible spherical cavities 212 are sealed around the circumference of each rigid shaft 214 and are distributed radially along the rigid shaft 214; helical blades 215 are evenly distributed on the outer surface of the flexible spherical cavity 212, and when the robot moves on muddy or sandy roads or in water, the rotation of the helical blades 215 drives the mud / water to generate a reaction thrust; at least one elastic water reservoir 213 is provided inside each flexible spherical cavity 212, and the elastic water reservoir 213 is sealed around the circumference of the rigid shaft 214; the rigid shaft 214 is hollow inside; the flexible shaft 221 is hollow inside;

[0064] The tail counterweight mechanism 3 is hinged to the flexible actuator frame 211 of the last flexible actuator module 21 and is used to counterweight the robot to maintain the stability of the overall structure's center of gravity.

[0065] Preferably, the bottom of the camera bracket 12 is flange-shaped.

[0066] Preferably, the head detection drive mechanism coupling 14 is a flange coupling.

[0067] Preferably, the interior of the box 16 is rectangular and hollow.

[0068] Preferably, the mounting shaft 17 is a stepped shaft with a flange at one end, and the mounting shaft 17 is rigidly fixed to both sides of the housing 16 by the flange; the two driven wheels 18 are respectively fixed to the shoulders of their respective mounting shafts 17 by nuts; a spring washer is placed between the nut and the hub of the driven wheel 18 to prevent the driven wheel 18 from loosening.

[0069] Preferably, the piezoelectric drive module 15 includes a piezoelectric pump body 151, a mounting housing 152, an oil outlet pipe 153, an oil inlet pipe 154, a hydraulic motor 155, a drive module mounting base 156, an oil outlet pipe check valve 157, an oil outlet pipe directional valve 158, a piezoelectric sensor 159, an oil inlet pipe check valve 1510, and an oil inlet pipe directional valve 1511;

[0070] The drive module mounting base 156 is fixed inside the housing 16; the housing of the hydraulic motor 155 is fixed to the drive module mounting base 156, and its output shaft extends out of the housing 16 and is connected to one end of the rigid shaft 214 of the first flexible actuator module 21 via the head detection drive mechanism coupling 14 to achieve torque transmission and provide driving force for the robot; the bottom of the mounting housing 152 is detachably (in this embodiment, it is a threaded connection) fixed to the housing of the hydraulic motor 155; Housing 152 houses the oil outlet line 153, oil inlet line 154, oil outlet line check valve 157, oil outlet line directional valve 158, oil inlet line check valve 1510, and oil inlet line directional valve 1511; piezoelectric pump body 151 provides power to the hydraulic oil; the housing of piezoelectric pump body 151 is detachably (in this embodiment, it is threaded) fixed to the top of the mounting housing 152, and the output end has an oil inlet port 151-12 and an oil outlet port 151-11; oil outlet... Ports 151-11 are connected to the oil inlet of the hydraulic motor 155 via oil outlet pipe 153. Oil outlet pipe 153 is equipped with an oil outlet check valve 157 and an oil outlet directional valve 158 arranged sequentially according to the hydraulic oil flow direction. Inlet ports 151-12 are connected to the oil outlet of the hydraulic motor 155 via oil inlet pipe 154. Oil inlet pipe 154 is equipped with an oil inlet directional valve 1511 and an oil inlet check valve 1510 arranged sequentially according to the hydraulic oil flow direction. The valve is used to control the direction of medium flow to achieve unidirectional circuit conduction; piezoelectric sensors 159 are installed on both the oil outlet line 153 and the oil inlet line 154 to detect the pressure of the feedback circuit; the piezoelectric hydraulic drive steering is controlled by a switch to control the connection position of the oil outlet line reversing valve 158 and the oil inlet line reversing valve 1511, thereby controlling the direction of hydraulic oil flow, forming a bidirectional closed circuit between the two reversing valves and the hydraulic motor 155, thereby driving the hydraulic motor 155 to rotate in both directions.

[0071] Preferably, the oil outlet check valve 157 is located at the oil outlet 151-11 near the piezoelectric pump body 151, and the oil inlet check valve 1510 is located at the oil inlet 151-12 near the piezoelectric pump body 151.

[0072] Preferably, the end face of the housing of the hydraulic motor 155 is flange-shaped and fixed to the drive module mounting base 156.

[0073] Preferably, the piezoelectric sensor 159 is disposed near the oil inlet and outlet of the hydraulic motor 155.

[0074] Preferably, the piezoelectric pump body 151 includes a pump cover 151-1, a piezoelectric stack one 151-2, a sleeve 151-3, a piezoelectric stack two 151-4, a top block connecting shaft 151-5, a pump shell 151-6, a disc spring 151-7, a rigid top block 151-8, a pump chamber diaphragm 151-9, a partition plate 151-10, and a bottom plate 151-13;

[0075] The sidewall of the base plate 151-13 is detachably fixed to the top inner wall of the mounting housing 152 in a circumferential manner (threaded connection in this embodiment); the base plate 151-13 is provided with an oil inlet 151-12 and an oil outlet 151-11 for the entry and exit of hydraulic oil; the bottom end of the pump housing 151-6 is detachably fixed to the base plate 151-13 in a threaded manner (threaded connection in this embodiment); the pump cover 151-1 is detachably fixed to the top end of the pump housing 151-6 in a threaded manner (threaded connection in this embodiment); a partition 151-10 is fixedly installed inside the pump housing 151-6, dividing the internal space of the pump housing 151-6 into a top cavity and a bottom cavity;

[0076] Piezoelectric stack 151-2 is coaxially nested inside pump cover 151-1; sleeve 151-3 is coaxially nested inside piezoelectric stack 151-2; the end of sleeve 151-3 has a baffle that contacts the vertical end of piezoelectric stack 151-2 and can transmit the lifting and lowering movement of piezoelectric stack 151-2; piezoelectric stack 2 151-4 is coaxially nested inside sleeve 151-3.

[0077] A cylindrical through hole is opened in the middle of the partition plate 151-10; one end of the top block connecting shaft 151-5 is fixedly connected to the piezoelectric stack 151-4, and the other end passes through the cylindrical through hole of the partition plate 151-10 and is detachably (in this embodiment, it is a threaded connection) fixedly connected to the top of the rigid top block 151-8; the disc spring 151-7 is coaxially installed at the shoulder of the top block connecting shaft 151-5 to provide preload.

[0078] The pump chamber diaphragm 151-9 is circumferentially clamped and fixed between the connection position of the pump housing 151-6 and the base plate 151-13; the upper end face of the base plate 151-13 is provided with a cylindrical groove, forming a sealed pump chamber with the pump chamber diaphragm 151-9; the rigid top block 151-8 is located in the bottom cavity of the pump housing 151-6, and is in contact with or separate from the pump chamber diaphragm 151-9; after the piezoelectric stack 151-2 and piezoelectric stack 2 151-4 are energized, they produce longitudinal expansion and contraction deformation, which drives the rigid top block 151-8 to move up and down, and to contact or separate from the pump chamber diaphragm 151-9, causing the pump chamber diaphragm 151-9 to vibrate, thereby changing the volume of the sealed pump chamber and generating a pressure difference to drive the hydraulic oil to flow.

[0079] Preferably, piezoelectric stack 151-2 and piezoelectric stack 2 151-4 are two hollow cylinders formed by stacking piezoelectric ceramic sheets of different diameters.

[0080] Preferably, the flexible actuator frame 211 is H-shaped and is composed of a horizontal connecting plate in the middle and vertical connecting plates on both sides; the horizontal connecting plate is hollowed out to reduce the overall weight.

[0081] Preferably, the flexible spherical cavity 212 is fixed to the circumferential direction of the rigid shaft 214 by a hose clamp 216.

[0082] Preferably, the number of elastic water-retaining bladders 213 is not less than that of flexible spherical cavities 212.

[0083] Preferably, each module connection assembly 22 further includes a connecting spring 222; a connecting spring 222 is coaxially nested on the outer side of each flexible shaft 221; the two ends of the connecting spring 222 are respectively fixedly connected to the flexible actuator frame 211 of two adjacent flexible actuator modules 21. In conjunction with the passive flexible deformation of the flexible shaft 221 in the module connection assembly 22, the connecting spring 222 also undergoes flexible deformation; simultaneously providing axial stiffness to transmit the driving force between the flexible actuator modules 21, improving the robot's obstacle-crossing performance; and simultaneously providing radial stiffness, the connecting spring 222 flexibly bends, enabling relative displacement between the various flexible actuator modules 21, better conforming to the terrain.

[0084] Preferably, both ends of the connecting spring 222 are equipped with annular chucks 223; the two ends of the connecting spring 222 are fixedly connected to the flexible actuator frames 211 of the two adjacent flexible actuator modules 21 respectively through the annular chucks 223.

[0085] Preferably, two stepped holes are symmetrically opened at the lower part of the vertical connecting plate of the flexible actuator frame 211, and a circular connecting plate is fixed to the outside of the stepped hole. Four L-shaped grooves are evenly arranged on the inner surface of the connecting plate. Four positioning bosses are evenly arranged on the outer surface of the circular chuck 223. The positioning bosses are inserted into the L-shaped grooves to form a tenon and mortise connection structure, thereby realizing the connection between the connecting spring 222 and the flexible actuator frame 211.

[0086] Preferably, the pneumatic-hydraulic drive unit 23 is installed on the upper half of the flexible actuator frame 211; each pneumatic-hydraulic drive unit 23 includes a water supply pipe 231, a drain pneumatic pump 232, a water injection pneumatic pump 233, a gas storage cylinder 234, a gas guide pipe 235, a gas filling pneumatic pump 236, a gas releasing pneumatic pump 237, and a connecting flange 238.

[0087] Gas cylinder 234 is fixed to the horizontal connecting plate of flexible actuator frame 211; drain piezoelectric pump 232, water injection piezoelectric pump 233, air filling piezoelectric pump 236 and air venting piezoelectric pump 237 are fixed to the vertical connecting plate of flexible actuator frame 211 through bottom flanges; one side wall of connecting flange 238 is fixed to the vertical connecting plate of flexible actuator frame 211 by bolts; connecting flange 238 is coaxially sealed and nested outside rigid shaft 214, and the two can move relative to each other; the inside of connecting flange 238 is hollow, and it cooperates with rigid shaft 214 to form a sealed space; rigid shaft 214 has a through hole located inside the sealed space; air guide pipe 235 and water supply pipe 231 are provided inside rigid shaft 214;

[0088] One end of a gas guide tube 235 is connected to a gas storage cylinder 234. It is split into two paths via a tee, one equipped with an inflation piezoelectric pump 236 and the other with a deflation piezoelectric pump 237. These paths are then merged into a single, sealed installation in the through-hole of a connecting flange 238, communicating with the sealed space. One end of a gas guide tube 235 inside a rigid shaft 214 is fixed to the through-hole of the rigid shaft 214, communicating with the sealed space. The other end communicates with each flexible spherical cavity 212. The inflation piezoelectric pump 236 and the deflation piezoelectric pump... Pump 237 operates independently (not simultaneously; one is responsible for air intake, and the other for air exhaust) to inflate or deflate the flexible spherical cavity 212. The gas in the gas storage cylinder 234 (using air or nitrogen, or other gases with a density less than air) is pumped into the gas guide pipe 235 by the inflation piezoelectric pump 236 to inflate each flexible spherical cavity 212. The gas in each flexible spherical cavity 212 is extracted through the gas guide pipe 235 by the deflation piezoelectric pump 237, forming a gas inflation and deflation circuit to achieve gas delivery.

[0089] One end of a water supply pipe 231 is connected to water in the environment. It is divided into two paths by a tee, with an injection piezoelectric pump 233 installed on one path and a drainage piezoelectric pump 232 installed on the other. The two paths are then merged into one path by the tee and sealed in the through hole of the connecting flange 238, communicating with the sealed space. One end of the water supply pipe 231 inside the rigid shaft 214 is fixed to the through hole of the rigid shaft 214, communicating with the sealed space. The other end is connected to each elastic water storage bladder 213. The injection piezoelectric pump 233 and the drainage piezoelectric pump 232 work independently (not simultaneously, one is responsible for water inlet and the other for water outlet) to inject or drain water from the elastic water storage bladders 213. Water in the environment is pumped into the water supply pipe 231 by the injection piezoelectric pump 233 and injected into each elastic water storage bladder 213. Water in each elastic water storage bladder 213 is discharged through the water supply pipe 231 by the drainage piezoelectric pump 232, forming a liquid injection and drainage circuit to realize liquid transportation.

[0090] When the number of flexible actuator modules 21 is equal to the number of gas-liquid drive units 23, the flexible shaft 221 does not have an air guide pipe 235 and a water supply pipe 231 inside. Each flexible actuator module 21 is inflated or deflated by its own gas-liquid drive unit 23, and filled or drained by its own elastic water storage bladder 213. When the number of flexible actuator modules 21 is greater than the number of gas-liquid drive units 23, the flexible shaft 221 is provided with an air guide pipe 235 and a water supply pipe 231 inside. The water supply pipe 231 inside the flexible shaft 221 is connected to the water supply pipe 231 inside the rigid shaft 214, and the air guide pipe 235 inside the flexible shaft 221 is connected to the air guide pipe 235 inside the rigid shaft 214.

[0091] Preferably, the drain piezoelectric pump 232, the water injection piezoelectric pump 233, the air filling piezoelectric pump 236 and the air venting piezoelectric pump 237 are piezoelectric pumps composed of a piezoelectric pump body 151, an oil outlet check valve 157 and an oil inlet check valve 1510.

[0092] Preferably, the gas-liquid drive unit 23 further includes a clamp 239; the gas storage cylinder 234 is fixed to the horizontal connecting plate of the flexible actuator frame 211 by the clamp 239.

[0093] The tail counterweight mechanism 3 includes n counterweight wheel modules, n-1 linkage groups 31, a universal coupling 35, and a tail hinge seat 36; n≥1; each counterweight wheel module includes a counterweight wheel 32, an axle 33, and a positioning ring 34;

[0094] Two counterweight wheels 32 are rotatably mounted on both ends of the axle 33; the two ends of a linkage group 31 are respectively hinged to the axle 33 of the two adjacent counterweight wheel modules, and the linkage group 31 is positioned by the positioning ring 34 to realize the rotational connection of each stage of the counterweight wheel module; the positioning ring 34 is fixed on the axle 33 and located on both sides of the linkage group 31 to prevent the linkage group 31 from axially shifting and to ensure stability during movement; the end of the tail hinge seat 36 is a flange that is fixed to the flexible actuator frame 211 of the last flexible actuator module 21 by bolts; one end of the universal coupling 35 is hinged to the tail hinge seat 36 by a pin, and the other end is hinged to the axle 33 of the first counterweight wheel module by a pin, completing the connection between the limb adaptive obstacle crossing mechanism 2 and the tail counterweight mechanism 3, and has a large angle compensation and buffer shock absorption capacity.

[0095] Preferably, the counterweight wheels 32 of each counterweight wheel module are arranged in an alternating manner to ensure sufficient space between the linkage groups 31 and to ensure the flexibility of the mechanism.

[0096] Preferably, the tail counterweight mechanism 3 adopts a multi-stage segmented design. Due to gravity, the counterweight wheels 32 of each counterweight wheel module are always in contact with the ground and can swing up and down according to the fluctuations of the terrain or obstacles, passively adjusting the motion posture. The degree of freedom is unrestricted. When encountering steps or potholes, the motion posture can be passively adjusted to improve the robot's obstacle passage and passive adaptability in complex terrain environments. When turning or crossing large obstacles, the robot can use its own weight to keep the center of gravity of the overall structure stable, enabling the robot to smoothly cross large obstacles.

[0097] The working principle and workflow of this invention are as follows:

[0098] Before the inspection operation, gas is pumped from the gas storage bottle 234 into the flexible spherical cavity 212 of each flexible actuator module 21 through the air guide tube 235 by the pneumatic pneumatic pump 236. Under the action of the air pressure inside the flexible spherical cavity 212, the robot is stably supported on the ground.

[0099] When the robot is conducting search and rescue and inspection operations on muddy and sandy roads, it outputs torque through the piezoelectric drive module 15, and transmits the torque through the rigid shaft 214 and the flexible shaft 221, thereby driving each flexible spherical cavity 212 to rotate at high speed. The robot achieves linear motion by using the reaction thrust of the mud and sand on the spiral blades 225.

[0100] In this embodiment, two piezoelectric drive modules 15 are used when steering is required. By changing the loading voltage frequency of the two piezoelectric drive modules 15, the rotational speed of the two rigid shafts 214 in each flexible actuator module 21 can be adjusted to achieve differential steering. In addition, the hydraulic drive steering through the oil outlet reversing valve 158 and the oil inlet reversing valve 1511 drives the hydraulic motor 155 to rotate in both directions, thereby changing the rotational direction of the two rigid shafts 214 in each flexible actuator module 21, thus enabling the robot to move freely in all directions on the muddy road surface.

[0101] When a robot needs to traverse complex, uneven terrain (such as...) Figure 12 As shown, the size of the flexible spherical cavity 212 can be adjusted by inflating / deflating the pneumatic pump 236 and the pneumatic pump 237 through the air pipe 235 to passively adapt to different terrain curvature changes. Combined with the deformation of the flexible spherical cavity 212 and the adaptive fit with the terrain surface, the robot's ability to adapt to complex terrain is greatly improved.

[0102] When the robot needs to overcome obstacles (such as...) Figure 13 and Figure 14As shown, the number of flexible actuator modules 21 connected in series can be increased or decreased according to the type and size of the obstacle, thereby enabling various configuration changes of the robot. During obstacle crossing, the robot relies on the limb structure formed by its multiple flexible actuator modules 21 connected in series, combined with the passive flexible deformation of the flexible shaft 221 in the module connection component 22. At this time, the high-power driving torque output by the piezoelectric drive module 15 is used to improve the robot's obstacle crossing performance on various types of complex land surfaces. When the robot crosses large obstacles, the tail counterweight mechanism 3 can keep the overall structural center of gravity of the robot's limb adaptive obstacle crossing mechanism 2 stable when crossing obstacles, realizing the robot's smooth crossing of large obstacles.

[0103] When the robot needs to perform inspections on the water surface, gas is pumped into the flexible spherical cavities 212 of each flexible actuator module 21 via an air inflator 236 and an air guide pipe 235. The increased air pressure within the flexible spherical cavities 212 causes expansion. Utilizing the low density and large volume characteristics of the expanded flexible spherical cavities 212, their drainage volume is significantly increased, thereby enabling the robot to float on the water surface (e.g., ...). Figure 15 (As shown). Two piezoelectric drive modules 15 output driving torque to drive the rigid shafts 214 in each flexible actuator module 21 to rotate at high speed. Simultaneously, the helical blades 215 on the outer surface of the flexible spherical cavity 212 utilize the reaction thrust of the water on their surface to enable the robot to float and move linearly on the water surface. During the robot's movement, differential steering can be achieved by adjusting the output speed of a certain piezoelectric drive module 15, thereby enabling the robot to move freely in all directions on the water surface.

[0104] When the robot needs to descend from its floating state to underwater for inspection, the deflation piezoelectric pump 237 extracts gas from each flexible spherical cavity 212 via the air duct 235, causing the flexible spherical cavity 212 to change from an inflated state to a normally inflated state. Simultaneously, water from the environment is injected / emptied into the elastic water storage bladder 213 via the drainage piezoelectric pump 232 and the water injection piezoelectric pump 233, dynamically regulating the internal water volume to control the robot's diving speed and depth until the target operating water depth is reached. Figure 16 (as shown) or underwater (such as) Figure 17 (As shown) the robot performs inspection operations. After the inspection is completed, when the robot needs to float to the surface, the water stored in each elastic water storage bladder 213 is discharged through the water supply pipe 231 by the drainage piezoelectric pump 232. At the same time, the flexible spherical cavity 212 is inflated by the inflation piezoelectric pump 236, causing the flexible spherical cavity 212 to expand and increase the drainage volume. The two work together to enable the robot to float quickly. The two piezoelectric drive modules 15 output drive torque to drive the rigid shaft 214 in each flexible actuator module 21 to rotate at high speed. At the same time, the spiral blades 215 on the outer surface of the flexible spherical cavity 212 use the reaction thrust of the water on its surface to enable the robot to move freely in all directions underwater and on the bottom.

[0105] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A fully flexible continuum inspection robot for complex nuclear power plant scenarios, characterized in that, The robot includes a head detection drive mechanism (1), a limb adaptive obstacle crossing mechanism (2), and a tail counterweight mechanism (3). The head detection drive mechanism (1) includes a radiation-resistant camera (11), a box cover (13), a piezoelectric drive module (15), a box body (16), a mounting shaft (17), and a passive wheel (18). The limb adaptive obstacle crossing mechanism (2) consists of N flexible actuator modules (21), N-1 module connection components (22) and 1~N pneumatic-hydraulic drive units (23); the flexible actuator modules (21) are connected to each other through the module connection components (22); each flexible actuator module (21) is provided with at most one pneumatic-hydraulic drive unit (23). Each flexible actuator module (21) includes a flexible actuator frame (211), at least two flexible spherical cavities (212), at least two elastic water reservoirs (213), and at least two rigid shafts (214); each module connection assembly (22) includes a flexible shaft (221); the gas-liquid drive unit (23) is used to inflate or deflate the flexible spherical cavities (212) and to fill or drain the elastic water reservoirs (213); The housings of at least two piezoelectric drive modules (15) are fixed inside the box (16), and the output shafts extend out of the box (16) and are connected to one end of the rigid shaft (214) of the first flexible actuator module (21) to provide driving force for the robot; the box cover (13) is sealed and installed on the top of the box (16); the radiation-resistant camera (11) is rotatably installed on the box cover (13) through the camera bracket (12) to realize all-round monitoring and identification of the water and land environment, adapting to the complex underwater application scenarios of nuclear power plants; the passive wheels (18) are rotatably installed on both sides of the box (16) through their respective mounting shafts (17); At least two rigid shafts (214) are rotatably mounted on the bottom of the flexible actuator frame (211); the two ends of the flexible shaft (221) are respectively connected to one end of the rigid shaft (214) of the two flexible actuator modules (21); the end of the rigid shaft (214) of the last flexible actuator module (21) is left empty; at least two flexible spherical cavities (212) are sealed around the circumference of each rigid shaft (214) and distributed radially along the rigid shaft (214); the outer surface of the flexible spherical cavity (212) is uniformly distributed with helical blades (215), and when the robot moves, the helical blades (215) rotate to generate reaction thrust; at least one elastic water reservoir (213) is provided inside each flexible spherical cavity (212), and the elastic water reservoir (213) is sealed around the circumference of the rigid shaft (214); the rigid shaft (214) is hollow inside; the flexible shaft (221) is hollow inside; Each pneumatic-hydraulic drive unit (23) includes a water supply pipe (231), a drain pneumatic pump (232), a water injection pneumatic pump (233), a gas storage cylinder (234), a gas guide pipe (235), a gas filling pneumatic pump (236), a gas releasing pneumatic pump (237), and a connecting flange (238). A gas cylinder (234) is fixed to a flexible actuator frame (211); a drain piezoelectric pump (232), a water injection piezoelectric pump (233), an inflation piezoelectric pump (236), and a deflation piezoelectric pump (237) are fixed to the flexible actuator frame (211); one side wall of a connecting flange (238) is sealed and fixed to the flexible actuator frame (211); the connecting flange (238) is coaxially sealed and nested outside the rigid shaft (214), and the two can move relative to each other; the connecting flange (238) is hollow inside, and forms a sealed space with the rigid shaft (214); a through hole is opened on the rigid shaft (214), located inside the sealed space; a gas guide pipe (235) and a water supply pipe (231) are provided inside the rigid shaft (214). One end of a gas guide tube (235) is connected to a gas storage cylinder (234), and it is divided into two paths through a tee. One path is equipped with an inflation pneumatic pump (236), and the other path is equipped with a deflation pneumatic pump (237). After being merged into one path through the tee, it is sealed and installed in the through hole of the connecting flange (238) and communicates with the sealed space. One end of the gas guide tube (235) inside the rigid shaft (214) is fixed at the through hole of the rigid shaft (214) and communicates with the sealed space. The other end is connected to each flexible spherical cavity (212) and is used to inflate or deflate the flexible spherical cavity (212) to realize gas transportation. One end of a water supply pipe (231) is connected to water in the environment. It is divided into two paths through a tee. One path is equipped with a water injection piezoelectric pump (233), and the other path is equipped with a drainage piezoelectric pump (232). After being merged into one path through the tee, it is sealed and installed in the through hole of the connecting flange (238) and connected to the sealed space. One end of the water supply pipe (231) inside the rigid shaft (214) is fixed at the through hole of the rigid shaft (214) and connected to the sealed space. The other end is connected to each elastic water storage bladder (213) and is used to inject or drain water into the elastic water storage bladder (213) to realize liquid transportation. The tail counterweight mechanism (3) is hinged to the flexible actuator frame (211) of the last flexible actuator module (21) to provide counterweight for the robot and maintain the stability of the overall structure's center of gravity.

2. The fully flexible continuum inspection robot for complex nuclear power plant scenarios according to claim 1, characterized in that, The mounting shaft (17) is a stepped shaft with a flange at one end. The mounting shaft (17) is rigidly fixed to both sides of the housing (16) through the flange. The two driven wheels (18) are fixed to the shoulders of their respective mounting shafts (17) and fixed with nuts. A spring washer is placed between the nut and the hub of the driven wheel (18) to prevent the driven wheel (18) from loosening.

3. The fully flexible continuum inspection robot for complex nuclear power plant scenarios according to claim 1, characterized in that, The piezoelectric drive module (15) includes a piezoelectric pump body (151), a mounting housing (152), an oil outlet line (153), an oil inlet line (154), a hydraulic motor (155), a drive module mounting base (156), an oil outlet line check valve (157), an oil outlet line directional valve (158), a piezoelectric sensor (159), an oil inlet line check valve (1510), and an oil inlet line directional valve (1511). The housing of the hydraulic motor (155) is fixed inside the housing (16) via the drive module mounting base (156). The output shaft extends out of the housing (16) and is connected to one end of the rigid shaft (214) of the first flexible actuator module (21) to achieve torque transmission. The bottom of the mounting housing (152) is fixed to the housing of the hydraulic motor (155). The mounting housing (152) is used to house the oil outlet line (153), the oil inlet line (154), the oil outlet line check valve (157), the oil outlet line reversing valve (158), the oil inlet line check valve (1510), and the oil inlet line reversing valve (1511). The housing of the piezoelectric pump body (151) is fixed to the top of the mounting housing (152), and the output end has an oil inlet (15). 1-12) and oil outlet (151-11); oil outlet (151-11) is connected to the oil inlet of hydraulic motor (155) through oil outlet pipeline (153), and oil outlet pipeline check valve (157) and oil outlet pipeline reversing valve (158) are arranged in sequence according to the hydraulic oil flow direction; oil inlet (151-12) is connected to the oil outlet of hydraulic motor (155) through oil inlet pipeline (154), and oil inlet pipeline reversing valve (1511) and oil inlet pipeline check valve (1510) are arranged in sequence according to the hydraulic oil flow direction; piezoelectric sensor (159) is provided on both oil outlet pipeline (153) and oil inlet pipeline (154) to detect feedback loop pressure.

4. The fully flexible continuum inspection robot for complex nuclear power plant scenarios according to claim 3, characterized in that, The oil outlet check valve (157) is located at the oil outlet (151-11) near the piezoelectric pump body (151), and the oil inlet check valve (1510) is located at the oil inlet (151-12) near the piezoelectric pump body (151); the piezoelectric sensor (159) is located at the oil inlet and outlet near the hydraulic motor (155).

5. The fully flexible continuum inspection robot for complex nuclear power plant scenarios according to claim 3, characterized in that, The piezoelectric pump body (151) includes a pump cover (151-1), a piezoelectric stack one (151-2), a sleeve (151-3), a piezoelectric stack two (151-4), a top block connecting shaft (151-5), a pump shell (151-6), a disc spring (151-7), a rigid top block (151-8), a pump chamber diaphragm (151-9), a partition plate (151-10), and a bottom plate (151-13). The sidewall of the base plate (151-13) is fixed circumferentially to the top inner wall of the mounting housing (152); the base plate (151-13) is provided with an oil inlet (151-12) and an oil outlet (151-11) for the entry and exit of hydraulic oil; the bottom end of the pump housing (151-6) is fixed to the base plate (151-13); the pump cover (151-1) is fixed to the top of the pump housing (151-6); a partition (151-10) is fixedly installed inside the pump housing (151-6) to divide the internal space of the pump housing (151-6) into a top cavity and a bottom cavity; Piezoelectric stack one (151-2) is coaxially nested inside the pump cover (151-1); sleeve (151-3) is coaxially nested inside the piezoelectric stack one (151-2); the end of sleeve (151-3) has a baffle that contacts the vertical end of piezoelectric stack one (151-2) and can transmit the lifting and lowering movement of piezoelectric stack one (151-2); piezoelectric stack two (151-4) is coaxially nested inside sleeve (151-3); A through hole is opened in the middle of the partition plate (151-10); one end of the top block connecting shaft (151-5) is fixedly connected to the piezoelectric stack II (151-4), and the other end passes through the through hole of the partition plate (151-10) and is fixedly connected to the top of the rigid top block (151-8); a disc spring (151-7) is coaxially installed at the shoulder of the top block connecting shaft (151-5) to provide preload. The pump chamber diaphragm (151-9) is circumferentially fixed between the connection position of the pump casing (151-6) and the base plate (151-13); the upper end face of the base plate (151-13) is provided with a groove, forming a closed pump chamber with the pump chamber diaphragm (151-9); the rigid top block (151-8) is located in the bottom cavity of the pump casing (151-6), and is in contact with or separate from the pump chamber diaphragm (151-9).

6. The fully flexible continuum inspection robot for complex nuclear power plant scenarios according to claim 1, characterized in that, Each module connection assembly (22) also includes a connecting spring (222); a connecting spring (222) is coaxially nested on the outside of each flexible shaft (221); the two ends of the connecting spring (222) are fixedly connected to the flexible actuator frame (211) of the two adjacent flexible actuator modules (21).

7. The fully flexible continuum inspection robot for complex nuclear power plant scenarios according to claim 6, characterized in that, Both ends of the connecting spring (222) are equipped with ring chucks (223); the two ends of the connecting spring (222) are fixedly connected to the flexible actuator frame (211) of the two adjacent flexible actuator modules (21) through the ring chucks (223).

8. The fully flexible continuum inspection robot for complex nuclear power plant scenarios according to claim 1, characterized in that, When the number of flexible actuator modules (21) is equal to the number of gas-liquid drive units (23), the flexible shaft (221) is not equipped with an air guide pipe (235) and a water supply pipe (231). Each flexible actuator module (21) is inflated or deflated by its own gas-liquid drive unit (23) and filled or drained by its own elastic water storage bladder (213). When the number of flexible actuator modules (21) is greater than the number of gas-liquid drive units (23), the flexible shaft (221) is equipped with an air guide pipe (235) and a water supply pipe (231). The water supply pipe (231) inside the flexible shaft (221) is connected to the water supply pipe (231) inside the rigid shaft (214), and the air guide pipe (235) inside the flexible shaft (221) is connected to the air guide pipe (235) inside the rigid shaft (214).

9. The fully flexible continuum inspection robot for complex nuclear power plant scenarios according to claim 1, characterized in that, The gas cylinder (234) is fixed to the flexible actuator frame (211) by clamps (239).

10. The fully flexible continuum inspection robot for complex nuclear power plant scenarios according to claim 1, characterized in that, The tail counterweight mechanism (3) includes n counterweight wheel modules, n-1 linkage groups (31), a universal coupling (35), and a tail hinge seat (36); each counterweight wheel module includes a counterweight wheel (32), an axle (33), and a positioning ring (34). The counterweight wheel (32) is rotatably mounted on both ends of the axle (33); the two ends of a linkage group (31) are respectively hinged to the axle (33) of two adjacent counterweight wheel modules, and the linkage group (31) is positioned by the positioning ring (34) to realize the rotational connection of each level of counterweight wheel module; the positioning ring (34) is fixed on the axle (33) and located on both sides of the linkage group (31) to prevent the linkage group (31) from axially shifting; the end of the tail hinge seat (36) is fixed to the flexible actuator frame (211) of the last flexible actuator module (21); one end of the universal coupling (35) is hinged to the tail hinge seat (36), and the other end is hinged to the axle (33) of the first counterweight wheel module.

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