Underwater flexible grabbing device and nuclear power station maintenance equipment

Abstract

The invention provides an underwater flexible grabbing device and nuclear power station maintenance equipment. The underwater flexible grabbing device comprises a mounting cylinder, a flexible air bag arranged on the mounting cylinder, a telescopic rod and an air pressure adjusting piece. The installation cylinder is provided with an installation cavity and an installation opening communicated with the installation cavity, the flexible air bag is arranged at the end, provided with the installation opening, of the installation cylinder in a sleeving mode, the interior of the flexible air bag is communicated with the installation cavity through the installation opening, and the telescopic rod is arranged in the installation cavity in a telescopic mode. The telescopic rod stretches into the flexible air bag and is connected with an abutting part, used for abutting against an object to be grabbed, of the flexible air bag, and the air pressure adjusting piece communicates with the interior of the flexible air bag and can adjust the air pressure state of the flexible air bag. By the adoption of the technical scheme, the underwater objects are grabbed in a lossless mode, the grabbing success rate and efficiency of the special-shaped underwater objects are improved, the radiation risk of maintenance personnel is reduced, and the safety of maintenance operation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear power plant maintenance equipment, and more specifically, to an underwater flexible grabbing device and nuclear power plant maintenance equipment. Background Art

[0002] During the overhaul of each nuclear power plant, foreign objects have been found in the reactor internals and on the bottom of the pool, seriously affecting the safety of the fuel in the nuclear island power plant. Based on years of experience, the only way to quickly deal with underwater foreign objects is to use a simple hammering and salvaging method, which has the disadvantages of high randomness and low success rate. At the same time, specific locations such as fuel assemblies or the bottom of the pool need to be protected from bumps, and existing salvage tools still have the disadvantage of being prone to collisions. Summary of the invention

[0003] The purpose of the present invention is to provide an underwater flexible grasping device and nuclear power plant maintenance equipment to solve the technical problems of randomness, low success rate and easy collision of existing nuclear power plant foreign body salvage tools.

[0004] To achieve the above object, the technical solution adopted by the present invention is:

[0005] In a first aspect, an underwater flexible grasping device is provided, comprising:

[0006] A mounting tube, a flexible airbag arranged on the mounting tube, a telescopic rod and an air pressure regulating member; the mounting tube is provided with a mounting cavity and a mounting port connected with the mounting cavity, the flexible airbag is sleeved on the end of the mounting tube provided with the mounting port, the interior of the flexible airbag is connected with the mounting cavity through the mounting port, the telescopic rod is telescopically arranged in the mounting cavity, the telescopic rod extends into the flexible airbag and is connected with an abutting portion of the flexible airbag for abutting against an object to be grasped, the air pressure regulating member is connected with the interior of the flexible airbag and can adjust the air pressure state of the flexible airbag;

[0007] When the telescopic rod is extended relative to the mounting tube, the telescopic rod drives the abutment portion to abut against the object to be grasped; when the telescopic rod is retracted relative to the mounting tube, the flexible airbag adjusts its own air pressure around the peripheral part of the abutment portion and deforms to wrap the object to be grasped.

[0008] By adopting the above technical solution, the telescopic rod can drive the flexible airbag to contract relative to the mounting tube so as to wrap around the underwater object. At the same time, the air pressure regulating part adjusts the air pressure of the flexible airbag so that the flexible airbag can adapt to the shape of the underwater object and deform, and exert a grasping force on the underwater object, thereby achieving non-destructive grasping of the underwater objects, improving the success rate and efficiency of grasping special-shaped underwater objects, reducing the radiation risk of maintenance personnel, and improving the safety of maintenance operations.

[0009] In one embodiment, the flexible airbag includes an airbag body and an abutment portion, the airbag body is connected to the mounting tube, the abutment portion is connected to one end of the airbag body facing away from the mounting tube, and the outer surface of the abutment portion is provided with an abutment surface, which is a plane, an arc surface or a curved surface.

[0010] By adopting the above technical solution, it is helpful to reduce the pressure when the abutting part abuts against the underwater object, thereby reducing the risk of damage to the underwater object.

[0011] In one embodiment, the flexible airbag further comprises a deformation part, the deformation part connects the abutment part and the mounting tube, an inflatable gap is spaced between the deformation part and the telescopic rod, and the inflatable gap is connected to the air pressure regulating member. By adopting the above technical solution, the flexible airbag can non-destructively grasp underwater objects.

[0012] In one embodiment, a radial dimension of the deformation portion gradually increases from the abutting portion in a direction approaching the mounting cylinder.

[0013] By adopting the above technical solution, the flexible airbag can wrap the underwater object, which is beneficial for the deformation part of the flexible airbag to apply force to the underwater object, thereby improving the firmness of grasping.

[0014] In one embodiment, the flexible airbag is in the shape of a cone, a truncated cone or a cylinder.

[0015] By adopting the above technical solution, the flexible airbag of the above shape has the advantage of strong wrapping ability, which is beneficial to the stability of the flexible airbag when wrapping underwater objects.

[0016] In one embodiment, the underwater flexible grasping device further includes an obstacle avoidance sensor disposed on the mounting tube.

[0017] By adopting the above technical solution, the underwater flexible grasping device has an obstacle avoidance function, which reduces the possibility of the underwater flexible grasping device colliding with obstacles when grasping underwater objects, and improves the safety of the underwater flexible grasping device itself.

[0018] In one embodiment, the underwater flexible grasping device further comprises a dosimeter disposed on the mounting tube for measuring radiation dose.

[0019] By adopting the above technical solution, the functionality of the underwater flexible grasping device is improved.

[0020] In one embodiment, the underwater flexible grasping device further comprises a depth gauge disposed on the mounting tube for measuring the depth.

[0021] By adopting the above technical solution, the functionality of the underwater flexible grasping device is improved.

[0022] In one embodiment, the underwater flexible grasping device further includes a communication connector disposed on the mounting tube for connecting to a mobile terminal.

[0023] By adopting the above technical solution, maintenance personnel can obtain information about the underwater flexible grasping device.

[0024] In a second aspect, a nuclear power plant maintenance equipment is provided, comprising a maintenance equipment body and the above-mentioned underwater flexible grabbing device, wherein the underwater flexible grabbing device is connected to the maintenance equipment body.

[0025] By adopting the above technical solution, on the basis of having the advantages of the underwater flexible grabbing device of the above embodiment, the nuclear power plant maintenance equipment of this embodiment also has the advantage of a high safety factor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a front view of the underwater flexible grasping device provided by an embodiment of the present invention.

[0028] Figure 2 It is a cross-sectional view of an underwater flexible grabbing device provided by an embodiment of the present invention, wherein the end of the telescopic rod connected to the abutment portion protrudes relative to the mounting tube.

[0029] Figure 3 It is a cross-sectional view of an underwater flexible grabbing device provided by an embodiment of the present invention, wherein the end portion of the telescopic rod connected to the abutment portion is retracted relative to the mounting tube.

[0030] Figure 4 It is a top view of the underwater flexible grasping device provided by an embodiment of the present invention.

[0031] The reference numerals in the figures are:

[0032] 1. Mounting tube; 2. Flexible airbag; 3. Telescopic rod; 4. Obstacle avoidance sensor; 5. Dosing device; 6. Depth meter;

[0033] 11. Mounting cavity; 12. Mounting opening; 21. Abutment portion; 22. Deformation portion; 23. Inflatable gap. DETAILED DESCRIPTION

[0034] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0035] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly located on the other element or indirectly located on the other element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention, and do not indicate that a device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating relative importance or indicating the number of technical features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The specific implementation of the present invention is described in more detail below in conjunction with specific embodiments:

[0038] like Figure 1 and Figure 2 As shown, an underwater flexible grasping device provided by an embodiment of the present invention can be applied to nuclear power plant maintenance operations; optionally, the underwater flexible grasping device is used to grasp foreign objects in a reactor pool. The underwater flexible grasping device can be applied to underwater environments such as a reactor pool, a fuel refueling pool, and a spent fuel pool of a reactor coolant system (RCP) of a nuclear power plant, where there is a need for non-destructive grasping of underwater objects, wherein the underwater objects can be flat objects without protrusions, and it is difficult to grasp such objects in the prior art; the underwater flexible grasping device of this embodiment can wrap underwater objects to achieve non-destructive grasping, and its grasping success rate is high; the following is an explanation through specific implementation methods:

[0039] The underwater flexible grasping device comprises: a mounting tube 1, a flexible airbag 2 arranged on the mounting tube 1, a telescopic rod 3 and an air pressure regulating member; the mounting tube 1 is provided with a mounting cavity 11 and a mounting port 12 communicating with the mounting cavity 11, the flexible airbag 2 is sleeved on the end of the mounting tube 1 provided with the mounting port 12, the interior of the flexible airbag 2 is communicated with the mounting cavity 11 through the mounting port 12, the telescopic rod 3 is telescopically arranged in the mounting cavity 11, the telescopic rod 3 extends into the flexible airbag 2, the telescopic rod 3 is connected with an abutting portion 21 of the flexible airbag 2 for abutting against an object to be grasped, and the air pressure regulating member is communicated with the interior of the flexible airbag 2 and can adjust the air pressure state of the flexible airbag 2;

[0040] When the telescopic rod 3 is extended relative to the mounting tube 1, the flexible airbag 2 is opened relative to the object to be grasped; when the telescopic rod 3 is retracted relative to the mounting tube 1, the flexible airbag 2 is deformed to wrap the object to be grasped.

[0041] When the telescopic rod 3 is extended relative to the mounting tube 1, the telescopic rod 3 drives the abutment portion 21 to abut against the object 10 to be grasped; when the telescopic rod 3 is retracted relative to the mounting tube 1, the flexible airbag 2 adjusts its own air pressure around the surrounding part of the abutment portion 21 and deforms to wrap the object 10 to be grasped.

[0042] Here, it can be understood that the underwater flexible grasping device refers to a device that wraps the underwater object 10 by a flexible component to achieve the grasping function; the underwater flexible grasping device includes a mounting tube 1, a flexible airbag 2, a telescopic rod 3 and an air pressure regulating member;

[0043] The mounting tube 1 refers to a cylindrical component used to mount the flexible airbag 2, the telescopic rod 3 and the air pressure regulating member; the mounting tube 1 is a hollow structure, and is provided with a mounting cavity 11 and a mounting port 12, wherein the mounting cavity 11 is located inside the mounting tube 1, and the mounting port 12 is located at one end of the mounting tube 1 and communicates with the mounting cavity 11;

[0044] The flexible airbag 2 refers to an airbag that can be deformed; generally speaking, the flexible airbag 2 is a silicone airbag, which has a certain deformation ability. The flexible airbag 2 is a hollow structure, and the flexible airbag 2 can be deformed under the internal air pressure or the force of the telescopic rod 3, so as to achieve expansion or contraction; the flexible airbag 2 is sleeved on one end of the mounting tube 1 with the mounting port 12, that is, the flexible airbag 2 is connected to the mounting cavity 11 of the mounting tube 1, and the mounting cavity 11 can adjust the air pressure of the flexible airbag 2;

[0045] The telescopic rod 3 refers to a rod body that can be extended and retracted relative to the mounting tube 1; the telescopic rod 3 generally refers to a telescopic cylinder, and the telescopic rod 3 is installed in the mounting cavity 11. The telescopic rod 3 can be extended and retracted relative to the mounting tube 1, and one end of the telescopic rod 3 can be extended into the interior of the flexible airbag 2 from the mounting opening 12; the end of the telescopic rod 3 extending into the flexible airbag 2 is connected to the inner wall of the abutment portion 21 of the flexible airbag 2, and the telescopic rod 3 can drive the flexible airbag 2 to move in a direction close to or away from the mounting tube 1;

[0046] The air pressure regulating component refers to a component used to regulate the internal air pressure of the flexible airbag 2; the air pressure regulating component generally refers to an air pumping and inflation device; the air pressure regulating component is arranged on the mounting tube 1 and is connected to the flexible airbag 2; the air pressure regulating component is used to regulate the internal air pressure of the flexible airbag 2, thereby realizing the inflation or deflating of the flexible airbag 2.

[0047] The telescopic rod 3 can be extended from the mounting opening 12 relative to the mounting tube 1, that is, the telescopic rod 3 drives the abutting portion 21 of the flexible airbag 2 to abut against the underwater object 10, and the telescopic rod 3 and the flexible airbag 2 are aligned with the underwater object 10 and abut against the underwater object 10; the telescopic rod 3 can be retracted relative to the mounting tube 1, and the telescopic rod 3 drives the flexible airbag 2 to shrink relative to the underwater object 10. At the same time, the air pressure regulating member adjusts the internal air pressure of the flexible airbag 2, so that the flexible airbag 2 adapts to the deformation of the underwater object 10, thereby wrapping the flexible airbag 2 on the underwater object 10. The rods 3 act together on the underwater object 10. Optionally, the telescopic rods 3 are retracted relative to the mounting tube 1. At the same time, the flexible airbag 2 remains in an inflated state, that is, the flexible airbag 2 is deformed in the inflated state, and the flexible airbag 2 is wrapped around the underwater object 10. At the same time, the air pressure inside the flexible airbag 2 provides a force for clamping the underwater object 10. Therefore, the flexible airbag 2 has a force on the underwater object 10, and the force comes from the periphery of the underwater object 10, thereby achieving the flexible airbag 2 wrapping and clamping the underwater object 10, and at the same time, the flexible airbag 2 deforms to adapt to the shape of the underwater object 10, thereby achieving non-destructive grasping.

[0048] The working principle of the underwater flexible grabbing device provided in this embodiment is as follows, and this embodiment is explained by grabbing an underwater object 10 in a reactor pool:

[0049] like Figure 2 As shown, the underwater flexible grasping device is extended underwater. Since the underwater object 10 is located at the bottom of the reactor pool, the underwater flexible grasping device is extended to the bottom of the pool, wherein the telescopic rod 3 drives the flexible airbag 2 to extend out of the mounting opening 12 of the mounting tube 1, and the end of the telescopic rod 3 connected to the abutment portion 21 extends relative to the mounting tube 1, and the telescopic rod 3 opens the flexible airbag 2. The extended end of the telescopic rod 3 and the abutment portion 21 of the flexible airbag 2 abut on the underwater object 10. At this time, as shown in FIG. Figure 3As shown, the telescopic rod 3 drives the abutment portion 21 of the flexible airbag 2 to retract, and the end of the telescopic rod 3 connected to the abutment portion 21 retracts relative to the mounting tube 1, and then the air pressure regulating member adjusts the air pressure of the flexible airbag 2, so that the part of the flexible airbag 2 around the abutment portion 21 in the air pressure state can be wrapped around the underwater object 10, and the air pressure state of the flexible airbag 2 is deformed to adapt to the shape of the underwater object 10, and at the same time, the flexible airbag 2 exerts a force on the underwater object 10 to achieve non-destructive grasping of the underwater object 10.

[0050] It needs to be further explained that when the telescopic rod 3 drives the flexible airbag 2 to retract relative to the mounting tube 1, the part of the flexible airbag 2 surrounding the abutment 21 retracts relative to the mounting tube 1 following the abutment 21. However, since the interior of the flexible airbag 2 is filled with gas, the gas drives the flexible airbag 2 to deform and wrap around the underwater object 10, thereby enabling the flexible airbag 2 to grab the underwater object 10.

[0051] By adopting the above technical solution, the telescopic rod 3 can drive the flexible airbag 2 to shrink relative to the mounting tube 1 so as to wrap around the underwater object 10. At the same time, the air pressure regulating component adjusts the internal air pressure of the flexible airbag 2 so that the flexible airbag 2 can adapt to the shape of the underwater object 10 and deform, and exert a grasping force on the underwater object 10, thereby achieving non-destructive grasping of the underwater object 10, improving the success rate and efficiency of grasping special-shaped underwater objects 10, reducing the radiation risk of maintenance personnel, and improving the safety of maintenance operations.

[0052] In one embodiment, the flexible airbag 2 includes an airbag body and an abutment portion 21 connected to one end of the airbag body away from the mounting tube 1 . The outer surface of the abutment portion 21 is provided with an abutment surface, which is a plane, arc surface or curved surface.

[0053] Here, it can be understood that the airbag body is used to connect the mounting tube 1, and the abutment portion 21 refers to the portion of the flexible airbag 2 that is used to abut against the underwater object 10; the abutment portion 21 is located at one end of the flexible airbag 2, which is located on the side of the flexible airbag 2 that is away from the mounting tube 1; the outer surface of the abutment portion 21 refers to the surface of the abutment portion 21 that is away from the telescopic rod 3, so that the abutment surface of the abutment portion 21 can abut against the underwater object 10; in order to reduce damage to the underwater object 10 while increasing the contact area with the underwater object 10, the abutment surface is referred to as a plane, an arc surface or a curved surface, so that when the abutment surface abuts against the underwater object 10, due to the larger contact area between the abutment surface and the underwater object 10, the pressure of the force acting when in contact with the underwater object 10 is reduced, thereby reducing the risk of damage to the underwater object 10.

[0054] By adopting the above technical solution, it is helpful to reduce the pressure when the abutting part 21 abuts against the underwater object 10, thereby reducing the risk of damage to the underwater object 10.

[0055] In one embodiment, the flexible airbag 2 further includes a deformation portion 22 , the deformation portion 22 connects the abutment portion 21 and the airbag body, an inflatable gap 23 is spaced between the deformation portion 22 and the telescopic rod 3 , and the inflatable gap 23 is connected to the air pressure regulating member.

[0056] Here, it can be understood that the deformation part 22 refers to the part of the flexible airbag 2 that is deformed under the joint action of the air pressure regulating member, the telescopic rod 3 and the underwater object 10; the deformation part 22 is located at the periphery of the abutment part 21 of the flexible airbag 2, and an inflatable gap 23 is provided between the deformation part 22 and the telescopic rod 3, and the air pressure regulating member is connected to the inflatable gap 23, so that the air pressure regulating member can be inflated into the inflatable gap 23, so that the deformation part 22 is deformed toward both sides;

[0057] When grabbing the underwater object 10, the telescopic rod 3 drives the abutment portion 21 to contract relative to the mounting tube 1, and the deformation portion 22 located outside the abutment portion 21 covers the underwater object 10. At the same time, the air pressure regulating part inflates the inflation gap 23, so that the deformation portion 22 can open and wrap around the underwater object 10, and exert a force on the underwater object 10, thereby achieving the grasping of the underwater object 10.

[0058] By adopting the above technical solution, the flexible airbag 2 can grasp the underwater object 10 without damage.

[0059] In one embodiment, the radial dimension of the deformation portion 22 gradually increases from the abutting portion 21 in a direction approaching the mounting cylinder 1 .

[0060] Here, it can be understood that the radial dimension of the deformation portion 22 close to the mounting tube 1 is large, and the radial dimension of the portion away from the mounting tube 1 is small. In this way, when the abutment portion 21 is driven by the telescopic rod 3 to retract relative to the mounting tube 1, the abutment portion 21 can be retracted to the middle of the deformation portion 22, and the deformation portion 22 is always located at the periphery of the abutment portion 21, so that the deformation portion 22 is wrapped around the underwater object 10.

[0061] By adopting the above technical solution, the flexible airbag 2 can wrap the underwater object 10, which is beneficial for the deformation part 22 of the flexible airbag 2 to apply force to the underwater object 10, thereby improving the firmness of the grasping.

[0062] In one embodiment, the flexible airbag 2 is in the shape of a cone, a truncated cone or a cylinder.

[0063] Here, it can be understood that the flexible airbag 2 of the above shape has a structure in which the radial dimension of the part close to the mounting tube 1 is large and the radial dimension of the part away from the mounting tube 1 is small, so that the abutment portion 21 can be located in the part with small radial dimension of the flexible airbag 2, which is beneficial for the abutment portion 21 to align with the underwater object 10; at the same time, the flexible airbag 2 of the above shape enables the deformation portion 22 to be located at the periphery of the abutment portion 21 when the telescopic rod 3 drives the abutment portion 21 to retract, which is beneficial for the deformation portion 22 to wrap the underwater object 10.

[0064] By adopting the above technical solution, the flexible airbag 2 of the above shape has the advantage of strong wrapping ability, which is beneficial to the stability of the flexible airbag 2 when wrapping the underwater object 10.

[0065] Please also read Figure 4 In one embodiment, the underwater flexible grasping device further includes an obstacle avoidance sensor 4 disposed on the mounting tube 1 .

[0066] Here, it can be understood that the obstacle avoidance sensor 4 refers to a device used to detect underwater obstacles to realize the obstacle avoidance function of the underwater flexible grasping device; optionally, the obstacle avoidance sensor 4 includes at least one of an underwater distance radar and a camera, and the underwater distance radar detects the distance between the underwater obstacles and the underwater flexible grasping device through radar; the camera is used to obtain images of underwater obstacles for maintenance personnel to control the underwater flexible grasping device in real time to avoid underwater obstacles.

[0067] By adopting the above technical solution, the underwater flexible grasping device has an obstacle avoidance function, which reduces the possibility of the underwater flexible grasping device colliding with obstacles when grasping underwater objects 10, and improves the safety of the underwater flexible grasping device itself.

[0068] In one embodiment, the underwater flexible grasping device further comprises a dosimeter 5 disposed on the mounting tube 1 for measuring radiation dose.

[0069] Here, it can be understood that the dosimeter 5 refers to a device for measuring radiation; since the underwater flexible grasping device needs to be put into the reactor water pool, a dosimeter 5 is arranged on the mounting tube 1, which is used to measure the radiation dose of the reactor water pool, so that the underwater flexible grasping device can also synchronously obtain the radiation dose when grasping the underwater object 10, so as to facilitate the acquisition of the measurement data of the reactor water pool.

[0070] By adopting the above technical solution, the functionality of the underwater flexible grasping device is improved.

[0071] In one embodiment, the underwater flexible grabbing device further comprises a depth gauge 6 disposed on the mounting tube 1 for measuring the depth.

[0072] Here, it can be understood that the depth gauge 6 refers to a device for measuring depth; since the underwater flexible grasping device needs to be put into the reactor water pool, a depth gauge 6 is arranged on the mounting tube 1, which is used to measure the depth of the underwater objects 10 in the reactor water pool, so that the underwater flexible grasping device can also synchronously obtain the depth value when grasping the underwater objects 10, so as to facilitate the acquisition of the measurement data of the reactor water pool.

[0073] By adopting the above technical solution, the functionality of the underwater flexible grasping device is improved.

[0074] In one embodiment, the underwater flexible grasping device further includes a communication connector disposed on the mounting tube 1 for connecting to a mobile terminal.

[0075] Here, it can be understood that the communication connector is used to electrically connect with the obstacle avoidance sensor 4, the doser 5 and the depth meter 6, and the communication connector is used to send the information acquired by the above-mentioned devices to the mobile terminal, so that maintenance personnel can obtain the measurement information through the mobile terminal, and the mobile terminal includes but is not limited to a mobile phone, a computer or a control cabinet.

[0076] By adopting the above technical solution, maintenance personnel can obtain information about the underwater flexible grasping device.

[0077] In a second aspect, a nuclear power plant maintenance equipment is provided, comprising a maintenance equipment body and the above-mentioned underwater flexible grabbing device, wherein the underwater flexible grabbing device is connected to the maintenance equipment body.

[0078] By adopting the above technical solution, on the basis of having the advantages of the underwater flexible grabbing device of the above embodiment, the nuclear power plant maintenance equipment of this embodiment also has the advantage of a high safety factor.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater flexible grabbing device, characterized in that: include: A mounting tube, a flexible airbag arranged on the mounting tube, a telescopic rod and an air pressure regulating member; the mounting tube is provided with a mounting cavity and a mounting port connected with the mounting cavity, the flexible airbag is sleeved on the end of the mounting tube provided with the mounting port, the interior of the flexible airbag is connected with the mounting cavity through the mounting port, the telescopic rod is telescopically arranged in the mounting cavity, the telescopic rod extends into the flexible airbag, and is connected with the inner wall of the abutting portion of the flexible airbag for abutting against an object to be grasped, the air pressure regulating member is connected with the interior of the flexible airbag and can adjust the air pressure state of the flexible airbag; When the telescopic rod is extended relative to the mounting tube, the telescopic rod drives the abutment portion to abut against the object to be grasped; when the telescopic rod is retracted relative to the mounting tube, the flexible airbag adjusts its own air pressure around the peripheral part of the abutment portion and deforms to wrap the object to be grasped.

2. The underwater flexible grabbing device according to claim 1, characterized in that: The flexible airbag includes an airbag body and an abutment portion, the airbag body is connected to the mounting tube, the abutment portion is connected to one end of the airbag body away from the mounting tube, and an abutment surface is provided on the outer surface of the abutment portion, and the abutment surface is a plane, an arc surface or a curved surface.

3. The underwater flexible grabbing device according to claim 2, characterized in that: The flexible airbag further comprises a deformation portion, wherein the deformation portion connects the abutment portion and the mounting tube, and an inflatable gap is spaced between the deformation portion and the telescopic rod, and the inflatable gap is communicated with the air pressure regulating member.

4. The underwater flexible grabbing device according to claim 3, characterized in that: The radial dimension of the deformation portion gradually increases from the abutment portion in a direction approaching the mounting tube.

5. The underwater flexible grabbing device according to claim 1, characterized in that: The shape of the flexible airbag is a cone, a truncated cone or a cylinder.

6. The underwater flexible grabbing device according to any one of claims 1 to 5, characterized in that: The underwater flexible grasping device also includes an obstacle avoidance sensor arranged on the mounting tube.

7. The underwater flexible grabbing device according to any one of claims 1 to 5, characterized in that: The underwater flexible grasping device also includes a dosimeter arranged on the mounting tube for measuring radiation dose.

8. The underwater flexible grabbing device according to any one of claims 1 to 5, characterized in that: The underwater flexible grasping device also includes a depth gauge arranged on the mounting tube for measuring the depth.

9. The underwater flexible grabbing device according to any one of claims 1 to 5, characterized in that: The underwater flexible grasping device also includes a communication connector arranged on the mounting tube for connecting to a mobile terminal.

10. A nuclear power plant maintenance equipment, characterized in that: It comprises a maintenance equipment body and an underwater flexible grabbing device as claimed in any one of claims 1 to 9, wherein the underwater flexible grabbing device is connected to the maintenance equipment body.

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