Snorkeling carrier equipment

Abstract

The invention belongs to the technical field of nuclear power station maintenance, and particularly relates to snorkeling carrier equipment, the snorkeling carrier equipment is used for being matched with an operation tool for use, the snorkeling carrier equipment comprises a rack, a camera module, a floating block and a propelling mechanism, and the camera module is arranged on the rack; the floating block is arranged on the rack; the propelling mechanism is arranged on the rack and used for driving the snorkeling carrier equipment to dive; wherein the rack is provided with a mounting structure for mounting different operation tools, and the mounting structure can meet the mounting requirements of the different operation tools, so that the snorkeling carrier equipment can be randomly combined and expanded to carry the different operation tools, and different expansion functions are realized; and the diversity, expansibility and compatibility of functions of snorkeling carrier equipment are improved. And moreover, the snorkeling carrier equipment can mechanically drive an operation tool to enter underwater operation, so that the personnel operation is simplified, and the labor intensity of personnel operation is also reduced.

Description

Technical Field

[0001] The present application belongs to the technical field of nuclear power plant maintenance, and in particular to a snorkeling carrier device. Background Art

[0002] In order to ensure the normal operation of nuclear power plants, they need to be overhauled regularly. During the overhaul, it is necessary to check the components in the reactor pool, grab foreign objects or components, and in some specific cases, pipeline inspections are also required. However, in the actual overhaul process, long poles or single ropes are usually used to put the working tools into the water for operation. This method is cumbersome and labor-intensive. Alternatively, different working robots are put into the water for different operations. This method has single equipment functions, poor scalability, and poor compatibility. Summary of the invention

[0003] The purpose of this application is to provide a snorkeling carrier device that can be used in combination with different working tools to improve the scalability of the snorkeling carrier device.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in this application is: a snorkeling carrier device for use in conjunction with a working tool, the snorkeling carrier device includes a frame, a camera module, a float block and a propulsion mechanism, the camera module is arranged on the frame; the float block is arranged on the frame; the propulsion mechanism is arranged on the frame, and the propulsion mechanism is used to drive the snorkeling carrier device to dive; wherein the frame is provided with an installation structure for installing different working tools.

[0005] Optionally, the mounting structure includes one or more mounting holes provided on the rack.

[0006] Optionally, at least one side of the frame is provided with at least one mounting hole.

[0007] Optionally, the frame includes a first side plate, a second side plate, a first support plate and a second support plate, the first side plate and the second side plate are spaced apart along a first direction, the first support plate and the second support plate are connected between the first side plate and the second side plate, the first support plate and the second support plate are spaced apart along a second direction, the floating block is installed on the side of the second support plate facing away from the first support plate, the propulsion mechanism is arranged between the first support plate and the second support plate, and the first direction is perpendicular to the second direction; at least one of the first side plate, the second side plate, the first support plate and the second support plate is provided with a mounting structure.

[0008] Optionally, the frame includes a first leg and a second leg, and the first leg and the second leg are arranged on the side of the first support plate facing away from the second support plate. The first leg and the second leg are arranged at intervals perpendicular to the second direction, and the first leg, the second leg and the first support plate are arranged to form an installation space for installing a working tool.

[0009] Optionally, the installation space is used for installing a trim float and / or a trim weight.

[0010] Optionally, the propulsion mechanism includes a first propeller and a second propeller arranged between the first support plate and the second support plate, the first propeller is used to drive the snorkeling carrier equipment to dive along the second direction, and the second propeller is used to drive the snorkeling carrier equipment to move in a direction perpendicular to the second direction.

[0011] Optionally, the camera module includes a first camera, a second camera and a lighting assembly. Along a third direction, the first camera and the lighting assembly are arranged on one side of the frame, and the second camera is arranged on the other side of the frame. The third direction is perpendicular to the second direction and the first direction.

[0012] Optionally, the snorkeling carrier equipment also includes an electronic cabin electrically connected to the camera module and the propulsion mechanism, the electronic cabin is arranged between the first support plate and the second support plate, and the electronic cabin is used to connect to external equipment.

[0013] Optionally, the working tool includes a mounting frame and a working body mounted on the mounting frame; the mounting frame is used to be connected to the mounting structure, and the mounting frame is used for installing a balancing float and / or a balancing weight.

[0014] The above one or more technical solutions in the snorkeling carrier equipment provided by the present application have at least one of the following technical effects: when the snorkeling carrier equipment is used, the corresponding working tool is installed on the frame through the installation structure, and then the snorkeling carrier equipment is put into the water. Under the buoyancy of the floating block, the snorkeling carrier equipment floats on the water surface, and then the propulsion mechanism is started. The propulsion mechanism overcomes the buoyancy of the floating block and drives the snorkeling carrier equipment to dive below the water surface. Then, the working tool performs the corresponding operation, so that the underwater operation is completed; after the operation is completed, the snorkeling carrier equipment floats to the surface to facilitate the recovery of the snorkeling carrier equipment and the working tool. The snorkeling carrier equipment of the embodiment of the present application, the installation structure can meet the installation requirements of different working tools, so that the snorkeling carrier equipment can be arbitrarily combined and expanded to carry different working tools, thereby realizing different expansion functions and improving the diversity, expandability and compatibility of the functions of the snorkeling carrier equipment. In addition, the snorkeling carrier equipment can be mechanized to carry working tools into underwater operations, which simplifies personnel operation and reduces the labor intensity of personnel operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic structural diagram of a snorkeling carrier device provided in some embodiments of the present application equipped with a suction component.

[0017] Figure 2 Schematic diagram of a snorkeling carrier device provided in some embodiments of the present application equipped with a manipulator Figure 1 .

[0018] Figure 3 Schematic diagram of a snorkeling carrier device provided in some embodiments of the present application equipped with a manipulator Figure 2 .

[0019] Figure 4 for Figure 3 The structural diagram of the rack is shown in FIG.

[0020] Figure 5 Schematic diagram of the structure of the snorkeling carrier device provided in other embodiments of the present application without the operating tool installed Figure 1 .

[0021] Figure 6 for Figure 5 The structure of the snorkeling carrier device shown is not equipped with working tools Figure 2 .

[0022] Figure 7 for Figure 5 The structure of the snorkeling carrier device shown is not equipped with working tools Figure 3 .

[0023] Figure 8 for Figure 5 The structure of the snorkeling carrier device shown is not equipped with working tools Figure 4 .

[0024] Among them, the reference numerals in the figure are:

[0025] 100, snorkeling carrier equipment; 10, rack; 101, mounting structure; 1011, mounting hole; 102, mounting space; 11, first side plate; 111, hollow hole; 12, second side plate; 13, first support plate; 131, first through hole; 14, second support plate; 141, lifting member; 15, first support leg; 16, second support leg; 20, camera module; 21, first camera; 22, second camera; 23, lighting lamp assembly; 3 0. Floating block; 31. First accommodating space; 32. Second accommodating space; 33. Cable hole; 34. Second through hole; 40. Propulsion mechanism; 41. Propeller; 411. Motor; 412. Propeller; 42. First propeller; 43. Second propeller; 50. Balancing floating block; 60. Electronic cabin; 61. Distance sensor; 62. Dose detector; 63. Cable socket; 200. Working tool; 210. Mounting frame; 220. Working body. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] In the description of the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0028] In the description of the present application, “plurality” means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0029] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] In the description of the present application, it should be understood that the terms "inside", "outside", "side", "top", "bottom", "front", "back", etc., indicating directions or positional relationships, are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to 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 application.

[0032] In the description of this application, it should be noted that the term "and / or" is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0033] It should also be noted that, in the embodiments of the present application, the same figure mark is used to represent the same component or the same part. For the same parts in the embodiments of the present application, the figure may only mark one of the parts or components as an example. It should be understood that the figure mark also applies to other identical parts or components.

[0034] During the overhaul of a nuclear power plant, it is necessary to inspect components in the reactor pool, grab foreign objects or components, and in some specific cases, pipeline inspections are also required. However, in the actual overhaul process, long poles or a single rope are usually used to put the work tools into the water for operation. This method is cumbersome and labor-intensive. Alternatively, different work robots are put into the water for different operations. This method has single equipment functions, poor scalability, and poor compatibility.

[0035] Based on this, the embodiment of the present application provides a snorkeling carrier device, which can be used with different working tools through the mounting structure on its frame, realizing the modular design of the snorkeling carrier device and the working tools, and can be combined and expanded at will to carry different working tools, thereby realizing different expansion functions and improving the diversity, expandability and compatibility of the functions of the snorkeling carrier device. In addition, the snorkeling carrier device can mechanizedly carry working tools into underwater operations, simplifying personnel operations and reducing the labor intensity of personnel operations.

[0036] The snorkeling carrier equipment of the embodiment of the present application is also suitable for underwater operations in a pool, and can also be used in pipelines to perform tasks such as pipeline inspection and foreign body salvage.

[0037] The following combination Figures 1 to 7 The snorkeling carrier device 100 of the embodiment of the present application is described. For the convenience of description, the Z axis in the figure represents the up-down direction, the positive direction of the Z axis represents the up direction, and the negative direction of the Z axis represents the down direction. The Y axis in the figure represents the left-right direction, the positive direction of the Y axis represents the left direction, and the negative direction of the Y axis represents the right direction. The X axis in the figure represents the front-back direction, the positive direction of the X axis represents the front direction, and the negative direction of the X axis represents the back direction.

[0038] like Figures 1 to 4As shown, in some embodiments, the snorkeling carrier device 100 is used in conjunction with a working tool 200, and the snorkeling carrier device 100 includes a frame 10, a camera module 20, a float 30 and a propulsion mechanism 40; the camera module 20 is arranged on the frame 10; the float 30 is arranged on the frame 10; the propulsion mechanism 40 is arranged on the frame 10, and the propulsion mechanism 40 is used to drive the snorkeling carrier device 100 to dive; wherein, the frame 10 is provided with an installation structure 101 for installing different working tools 200.

[0039] The snorkeling carrier device 100 can be used to drive the working tool 200 into the water to perform underwater operations, and the working tool 200 can also float to the surface to achieve the recovery of the snorkeling carrier device 100 and the working tool 200.

[0040] The working tool 200 may be of various types, for example, a robot arm, a suction component, a purge component, etc.

[0041] The frame 10 may refer to a mounting base of the snorkeling carrier device 100. The camera module 20, the floating block 30 and the propulsion mechanism 40 are all mounted on the frame 10. The frame 10 supports the camera module 20, the floating block 30 and the propulsion mechanism 40. The frame 10 may be formed by splicing a plurality of rods, or by splicing a plurality of plates, or by splicing a mixture of rods and plates. The material of the frame 10 may be various, for example, metal, plastic, etc.

[0042] The camera module 20 may refer to a component capable of taking images. The camera module 20 may take underwater images. On the one hand, personnel may inspect underwater components based on the underwater images; on the other hand, the underwater position of the snorkeling carrier device 100 may be determined based on the underwater images, thereby guiding the snorkeling carrier platform to move to a preset position for operation. The camera module 20 may be a 360° panoramic camera or other types of cameras.

[0043] The float 30 may refer to a component that can float on the water surface. Under the action of its own buoyancy, the float 30 can drive the snorkeling carrier equipment 100 and the working tool 200 to automatically move upward, thereby floating to the surface, facilitating the recovery and use of the snorkeling carrier equipment 100 and the working tool 200. In addition, no external power is required, which is conducive to simplifying the structure of the snorkeling carrier equipment 100.

[0044] The propulsion mechanism 40 may refer to a component that drives the snorkeling carrier device 100 to move underwater, wherein the propulsion mechanism 40 can drive the snorkeling carrier device 100 and the working tool 200 to overcome the buoyancy of the floating block 30 and move underwater to perform underwater operations.

[0045] In some examples, the propulsion mechanism 40 can also drive the snorkeling carrier device 100 to move horizontally underwater. The snorkeling carrier device 100 has a wide range of activities underwater, which can facilitate the flexible use of the snorkeling carrier device 100.

[0046] In some examples, the propulsion mechanism 40 includes one or more propellers 41, and the propeller 41 includes a motor 411 and a propeller 412. The motor 411 drives the propeller 412 to rotate, thereby pushing the propeller 41 forward, thereby driving the snorkeling carrier equipment 100 to dive or translate.

[0047] The frame 10 is provided with a mounting structure 101 for mounting different working tools 200. It can be understood that the mounting structure 101 may refer to a structure provided on the frame 10 for connecting with the working tool 200, and the mounting structure 101 can be connected with different working tools 200 to meet the installation requirements of different working tools 200, thereby realizing the functional expansion of the snorkeling carrier device 100. The mounting structure 101 may be a hole structure, a snap-fit ​​structure, etc.

[0048] When the snorkeling carrier device 100 of the embodiment of the present application is used, the corresponding working tool 200 is installed on the frame 10 through the mounting structure 101, and then the snorkeling carrier device 100 is put into the water. Under the buoyancy of the floating block 30, the snorkeling carrier device 100 floats on the water surface, and then the propulsion mechanism 40 is started. The propulsion mechanism 40 overcomes the buoyancy of the floating block 30 and drives the snorkeling carrier device 100 to dive below the water surface. Then, the working tool 200 performs the corresponding operation, and the underwater operation is completed; after the operation is completed, the snorkeling carrier device 100 floats to the surface to facilitate the recovery of the snorkeling carrier device 100 and the working tool 200. The snorkeling carrier device 100 of the embodiment of the present application, the mounting structure 101 can meet the installation requirements of different working tools 200, so that the snorkeling carrier device 100 can be arbitrarily combined and expanded to carry different working tools 200, thereby realizing different expansion functions and improving the diversity, expansion and compatibility of the functions of the snorkeling carrier device 100. Furthermore, the snorkeling carrier equipment 100 can be mechanized to carry the working tool 200 into underwater operations, which simplifies the operation of personnel and reduces the labor intensity of the personnel.

[0049] The snorkeling carrier device 100 of the embodiment of the present application, under the action of the floating block 30, the propulsion mechanism 40 stops working (for example, the propulsion mechanism 40 is in a power-off state, etc.), and the floating block 30 can automatically drive the snorkeling carrier device 100 to float, so that the snorkeling carrier device 100 has a zero buoyancy design. The snorkeling carrier device 100 of the embodiment of the present application can realize the inspection of underwater components and pipelines and the salvage of foreign objects.

[0050] In some embodiments, the mounting structure 101 includes one or more mounting holes 1011 disposed on the rack 10 .

[0051] The mounting hole 1011 may refer to a blind hole or a through hole provided on the rack 10 , and the mounting hole 1011 may be a smooth hole or a threaded hole.

[0052] In some examples, the mounting structure 101 includes a mounting hole 1011 , and one mounting hole 1011 can meet the installation requirements of different working tools 200 .

[0053] In some examples, the mounting structure 101 includes a plurality of mounting holes 1011 , and the working tool 200 can be connected to the plurality of mounting holes 1011 at the same time, thereby improving the installation reliability of the working tool 200 .

[0054] For example, some of the plurality of mounting holes 1011 are connected to one working tool 200, and some of the plurality of mounting holes 1011 are connected to another working tool 200. The mounting holes 1011 connected to the two working tools 200 may be partially identical or completely different.

[0055] By adopting the technical solution of this embodiment, the mounting structure 101 adopts the structure of the mounting hole 1011, so that the working tool 200 can be directly installed on the frame 10 using fasteners such as bolts and screws, and the connection operation between the working tool 200 and the snorkeling carrier equipment 100 is simple; in addition, the mounting hole 1011 has good versatility and is also conducive to carrying more working tools 200.

[0056] In some embodiments, at least one side of the rack 10 is provided with at least one mounting hole 1011 .

[0057] In some examples, at least one of the upper side, the lower side, the left side, the right side, the front side, or the rear side of the rack 10 is provided with one or more mounting holes 1011 .

[0058] For example, one side of the frame 10 is provided with one or more mounting holes 1011 , and different working tools 200 are mounted on the same side of the frame 10 .

[0059] For example, one or more mounting holes 1011 are provided on different sides of the frame 10, and different working tools 200 are installed on different sides of the frame 10, or the same working tool 200 can be connected to the mounting holes 1011 on different sides. The specific setting can be made according to actual needs.

[0060] By adopting the technical solution of this embodiment, the position of the mounting hole 1011 can be flexibly set to meet different usage requirements.

[0061] In some embodiments, the frame 10 includes a first side plate 11, a second side plate 12, a first support plate 13 and a second support plate 14, the first side plate 11 and the second side plate 12 are spaced apart along a first direction Y, the first support plate 13 and the second support plate 14 are connected between the first side plate 11 and the second side plate 12, the first support plate 13 and the second support plate 14 are spaced apart along a second direction Z, the floating block 30 is installed on the side of the second support plate 14 facing away from the first support plate 13, the propulsion mechanism 40 is arranged between the first support plate 13 and the second support plate 14, and the first direction Y is perpendicular to the second direction Z; at least one of the first side plate 11, the second side plate 12, the first support plate 13 and the second support plate 14 is provided with a mounting structure 101.

[0062] The frame 10 is a frame structure formed by splicing a plurality of plates, and the plurality of plates include a first side plate 11, a second side plate 12, a first support plate 13, and a second support plate 14; the first side plate 11 and the second side plate 12 are arranged at intervals along a first direction Y, and the first support plate 13 and the second support plate 14 are arranged at intervals along a second direction Z, and the first support plate 13 and the second support plate 14 are located between the first side plate 11 and the second side plate 12, and the first direction Y and the second direction Z are perpendicular, so that the first side plate 11, the second side plate 12, the first support plate 13, and the second support plate 14 are enclosed together to form a cubic structure. The structure is simple and convenient for processing and manufacturing the frame 10.

[0063] In some examples, the first side plate 11, the second side plate 12, the first support plate 13 and the second support plate 14 are provided with hollow holes 111 to reduce the weight of the frame 10. Of course, in other examples, the first side plate 11, the second side plate 12, the first support plate 13 and the second support plate 14 may not be provided with hollow holes 111.

[0064] For example, the second direction Z may refer to the height direction of the snorkeling carrier device 100 , and the first direction Y may refer to the width direction of the snorkeling carrier device 100 ; or, the first direction Y may refer to the length direction of the snorkeling carrier device 100 .

[0065] The floating block 30 is installed on the side of the second support plate 14 facing away from the first support plate 13, and the propulsion mechanism 40 is installed between the first support plate 13 and the second support plate 14. On the one hand, the first side plate 11, the second side plate 12, the first support plate 13 and the second support plate 14 can play a good protective role for the propulsion mechanism 40, thereby improving the stability of the operation of the propulsion mechanism 40; on the other hand, the floating block 30 and the propulsion mechanism 40 are arranged along the second direction Z, and the propulsion mechanism 40 can drive the floating block 30 to dive more labor-savingly, and it is also convenient for the buoyancy of the floating block 30 and the diving potential of the propulsion mechanism 40 to be set in the same direction, thereby improving the diving stability of the snorkeling carrier equipment 100.

[0066] In some examples, the floating block 30 can be fixed to the second support plate 14 by fasteners such as screws and bolts. The installation structure 101 of the floating block 30 is simple, which facilitates the disassembly and installation of the floating block 30. Of course, in other examples, the floating block 30 can also be fixed to the second support plate 14 by means of clamping, bonding, etc.

[0067] In some examples, the buoy 30 is on top and the propulsion mechanism 40 is on the bottom. The buoy 30 can also drive the snorkeling carrier device 100 to float up relatively stably, and the propulsion mechanism 40 can also drive the snorkeling carrier device 100 to dive relatively stably.

[0068] In some embodiments, the upper and lower sides of the first side plate 11 and the second side plate 12 are covered with soft materials to reduce the damage caused by collisions to the snorkeling carrier device 100 .

[0069] In some embodiments, the frame 10 includes a first leg 15 and a second leg 16, and the first leg 15 and the second leg 16 are arranged on the side of the first support plate 13 facing away from the second support plate 14. The first leg 15 and the second leg 16 are arranged at intervals perpendicular to the second direction Z. The first leg 15, the second leg 16 and the first support plate 13 are arranged to form an installation space 102 for installing the working tool 200.

[0070] In some examples, the first support leg 15 and the second support leg 16 may be spaced apart along the first direction Y, or may be spaced apart along a direction perpendicular to the second direction Z and intersecting the first direction Y.

[0071] For example, the first leg 15 and the second leg 16 may be a U-shaped structure, and the two ends of the U-shaped structure close to the opening are respectively mounted on the first support plate 13 and located on the side of the first support plate 13 facing away from the second support plate 14. The first leg 15 and the second leg 16 have a simple structure and are easy to manufacture. Of course, the first leg 15 and the second leg 16 may also be other structures. The first leg 15 and the second leg 16 may also be provided with a mounting structure 101, or may not be provided with a mounting structure 101.

[0072] The first leg 15, the second leg 16 and the second support plate 14 can also form a U-shaped structure. The space enclosed by the U-shaped structure is the installation space 102. The working tool 200 can be installed in the installation space 102. The working tool 200 can be fixed to the first support plate 13 via the installation structure 101 on the first support plate 13. The working tool 200 can also be fixed to the first leg 15 via the installation structure 101 on the first leg 15. The working tool 200 can also be fixed to the second leg 16 via the installation structure 101 on the second leg 16.

[0073] By adopting the technical solution of this embodiment, the manipulator is installed in the installation space 102, and the first support leg 15 and the second support leg 16 can protect the manipulator and improve the stability of the manipulator.

[0074] In some embodiments, the installation space 102 is used for installing the trim float 50 and / or the trim weight.

[0075] The trim float 50 may be installed in the installation space 102 , and the trim weight may also be installed in the installation space 102 .

[0076] The trim buoy 50 may refer to a component that can float on the water surface, and the trim buoy 50 may increase the buoyancy of the snorkeling carrier device 100; the material of the trim buoy 50 may be the same as or different from that of the buoy 30, and the trim buoy 50 may be a hollow structure or a solid structure. The snorkeling carrier device 100 may be installed with one or more trim buoys 50 at a time.

[0077] The balancing float 50 can be fixed on the frame 10 by means of fasteners such as screws, bolts, or cable ties, and certainly other fixing methods are also possible.

[0078] The balancing weight may refer to a component that can sink to the bottom of the water, and the balancing weight may reduce the buoyancy of the snorkeling vehicle device 100; the material of the balancing weight may be metal, plastic, etc.; the balancing weight may be a hollow structure or a solid structure. The snorkeling vehicle device 100 may be installed with one or more balancing weights at a time. The balancing weight may be fixed to the frame 10 by means of fasteners such as screws, bolts, or cable ties, and of course other fixing methods may also be used.

[0079] In some examples, the snorkeling carrier device 100 may also be equipped with a balancing buoy 50 and a balancing weight.

[0080] By adopting the technical solution of this embodiment, after different working tools 200 are installed on the snorkeling carrier device 100, the center of gravity or buoyancy of the snorkeling carrier device 100 changes, which may cause the snorkeling carrier device 100 to tilt underwater or even fail to float. According to different working tools 200, the position and quantity of the balancing float 50 and the balancing weight are adjusted to adjust the center of gravity and buoyancy of the snorkeling carrier device 100, so that the snorkeling carrier device 100 presents a slightly positive and slightly force state in the water, so as to facilitate the buoyancy of the snorkeling carrier device 100 and improve the stability of the use of the snorkeling carrier device 100. In addition, the first leg 15 and the second leg 16 can also protect the balancing float 50 or the balancing weight.

[0081] In some examples, the working tool 200 includes a manipulator, the first support plate 13 is provided with a mounting hole 1011 , and the manipulator is connected to the first support plate 13 through the mounting hole 1011 .

[0082] For example, see Figure 2 As shown, the manipulator is used for grasping foreign objects underwater. Before the snorkeling carrier device 100 works, the manipulator is installed in the middle of the first support plate 13, and a balancing buoy 50 is installed at each of the four corners of the first support plate 13, so that the snorkeling carrier device 100 is in a slightly positive and slightly force state in the water, and the balancing buoy 50 is used to fix components such as bolts and screws. The manipulator is also fixed with screws or screws.

[0083] For example, see Figure 3 As shown, the manipulator is used to grasp underwater foreign objects. Before the snorkeling carrier device 100 works, the manipulator is installed on the front side of the first support plate 13, and a balancing float 50 is installed on the front side of the first support plate 13, so that the snorkeling carrier device 100 is in a slightly positive and slightly force state in the water. The balancing float 50 is used to fix parts such as bolts and screws. The manipulator is also fixed with screws or screws.

[0084] In some embodiments, see Figure 1 As shown, the working tool 200 includes a mounting frame 210 and a working body 220 mounted on the mounting frame 210; the mounting frame 210 is used to connect with the mounting structure 101, and the mounting frame 210 is used for installing the balancing float 50 and / or the balancing weight.

[0085] The working body 220 of the working tool 200 can be fixed on the frame 10 through the mounting frame 210. At the same time, the balancing float 50 and / or balancing weight block matching the working tool 200 are also installed on the mounting frame 210 to form a modular tool, making the connection operation between the working tool 200 and the snorkeling carrier equipment 100 simpler.

[0086] For example, the mounting bracket 210 can be fixed to the rack 10 through the mounting holes 1011 opened on the first side plate 11 and the second side plate 12 , and the mounting bracket 210 can also be fixed to the rack 10 through the mounting holes 1011 opened on the second support plate 14 .

[0087] In some examples, the working body 220 may be a suction component or a purge component. Along the third direction X, the first side plate 11 and the second side plate 12 are provided with mounting holes 1011 on the same side, and the mounting frame 210 is fixed to the frame 10 through the mounting holes 1011. The third direction X is perpendicular to the second direction Z and the first direction Y. The working body 220 is fixed to the frame 10 through the mounting holes 1011 of the first side plate 11 and the second side plate 12, and the fixing reliability is good. In addition, the working body 220 is located on one side of the frame 10 along the third direction X, which is also convenient for the installation of the working body 220 and the suction operation and the purge operation.

[0088] The suction component can be an underwater dust suction device, which can be used to clean the attachments on the wall of the pool or small foreign objects. The purge component is used to blow away the foreign objects.

[0089] In some examples, the working body 220 can achieve both suction and purging. For example, the suction port of the underwater vacuum device is used to aim at the foreign matter for suction, thereby achieving suction; the drainage port of the underwater vacuum device is used to aim at the foreign matter, so that the water discharged from the drainage port blows away the impurities, thereby achieving purging.

[0090] For some examples, see Figure 1 As shown, the suction component is mounted on the mounting frame 210, and balancing floats 50 are installed on both sides of the suction component, and then the mounting frame 210 is mounted on the front side of the first side plate 11 and the second side plate 12, so that the snorkeling carrier device 100 is in a slightly positive and slightly force state in the water. The balancing floats 50 are used to fix components such as bolts and screws on the mounting frame 210.

[0091] In some embodiments, when the snorkeling carrier device 100 is not equipped with the working tool 200, it is mainly used for underwater video detection. Before working, the snorkeling carrier device 100 also needs to adjust the position and quantity of the balancing float 50 and the counterweight so that the snorkeling carrier device 100 is in a slightly positive and slightly force state in the water; for example, a balancing float 50 is installed on the front and rear sides of the first support plate 13, and fixed with fasteners such as bolts and screws.

[0092] Please also read Figures 5 to 8 As shown, in some embodiments, the propulsion mechanism 40 includes a first propeller 42 and a second propeller 43 arranged between the first support plate 13 and the second support plate 14, the first propeller 42 is used to drive the snorkeling carrier equipment 100 to dive along the second direction Z, and the second propeller 43 is used to drive the snorkeling carrier equipment 100 to move in a direction perpendicular to the second direction Z.

[0093] The propulsion mechanism 40 includes a plurality of propellers 41, and the plurality of propellers 41 include a first propeller 42 and a second propeller 43; the first propeller 42 is vertically arranged to drive the snorkeling carrier device to dive, and the second propeller 43 is vertically arranged to the first propeller 42 to drive the snorkeling carrier device to move horizontally.

[0094] In some examples, the first support plate 13 and the second support plate 14 are each provided with a first through hole 131 at positions corresponding to the first propeller 42, and the floating block 30 is provided with a second through hole 34 at positions corresponding to the first propeller 42, and the first through hole 131 and the second through hole 34 are connected; the propulsion water flow generated by the activation of the first propeller 42 can flow in a straight line through the first through hole 131 and the second through hole 34, the propulsion water flow flows more smoothly, and the propulsion force of the propulsion mechanism 40 is large, thereby better driving the float carrier equipment to dive.

[0095] The number of the first propellers 42 and the number of the second propellers 43 can be one or more, and the specific number can be set according to actual needs.

[0096] For example, the number of the first propellers 42 is two, and the two first propellers 42 are spaced apart along the first direction Y. The number of the second propellers 43 is four, and two of the four second propellers 43 are located on one side of the first support plate 13 along the first direction Y, and the other two are located on the other side of the first support plate 13 along the first direction Y. Along the first direction Y, the spacing between the motors 411 of the two second propellers 43 located on the same side is greater than the distance between the propellers 412 of the two second propellers 43. The four second propellers 43 are arranged in this way, which can drive the snorkeling carrier device 100 to move in any direction in the horizontal plane, and the snorkeling carrier device 100 can move underwater more flexibly. In addition, the first side plate 11 and the second side plate 12 are provided with hollow holes 111, and the propulsion water flow generated by the start-up of the second propeller 43 can flow through the hollow holes 111, and the propulsion water flow flows more smoothly, thereby better driving the floating ball carrier device to move underwater.

[0097] By adopting the technical solution of this embodiment, the first propeller 42 drives the snorkeling carrier equipment 100 to dive, and the second propeller 43 drives the snorkeling carrier equipment 100 to move horizontally underwater, so that the snorkeling carrier equipment 100 can move in multiple directions, and the snorkeling carrier equipment 100 is more flexible underwater. In addition, the first support plate 13, the second support plate 14, the first side plate 11 and the second side plate 12 can also protect the first propeller 42 and the second propeller 43, which is beneficial to improve the reliability of the use of the snorkeling carrier equipment 100.

[0098] In some embodiments, the camera module 20 includes a first camera 21, a second camera 22 and a lighting assembly 23. Along a third direction X, the first camera 21 and the lighting assembly 23 are arranged on one side of the frame 10, and the second camera 22 is arranged on the other side of the frame 10. The third direction X is perpendicular to the second direction Z and the first direction Y.

[0099] The third direction X may refer to a direction perpendicular to the second direction Z and the first direction Y. For example, the third direction X may be the length direction of the snorkeling carrier device 100. When the snorkeling carrier device moves along the third direction X, the first camera 21 is a front camera and the second camera 22 is a rear camera; or, the first camera 21 is a rear camera and the second camera 22 is a front camera.

[0100] The first camera 21 and the second camera 22 can be fixed cameras or rotatable cameras, for example, 360° panoramic cameras, to expand the field of view.

[0101] The first camera 21 and the second camera 22 are located on opposite sides of the frame 10, and can obtain underwater images on opposite sides of the frame 10. The obtained images have a wide range and the inspection movement effect of the snorkeling carrier device is good. At the same time, the lighting lamp provides lighting light to the first camera 21, which can better adapt to the darker environment in the pool.

[0102] In some embodiments, the first camera 21 and the second camera 22 are installed on the second support plate 14, and the floating block 30 is recessed along the third direction X to form the first accommodating space 31 and the second accommodating space 32. The first camera 21 and the second camera 22 are respectively installed in the first accommodating space 31 and the second accommodating space 32, and the structure has good compactness. In addition, the risk of the first camera 21 and the second camera 22 protruding from the snorkeling carrier equipment 100 is reduced, thereby improving the reliability of the use of the float carrier equipment.

[0103] In some embodiments, the snorkeling carrier device 100 also includes an electronic cabin 60 electrically connected to the camera module 20 and the propulsion mechanism 40. The electronic cabin 60 is disposed between the first support plate 13 and the second support plate 14. The electronic cabin 60 is used to connect to external equipment.

[0104] The electronic cabin 60 may refer to the electronic control device of the snorkeling carrier equipment 100. The electronic components are arranged in the electronic cabin 60 for controlling the operation of the camera device and the propulsion mechanism 40. At the same time, the image information captured by the camera module 20 may be fed back to the external device through the electronic cabin 60. The personnel may observe the underwater situation through the external device, and may also use the external device to control the diving and translation of the propulsion mechanism 40, thereby facilitating the remote control of the snorkeling carrier equipment 100, reducing the radiation dose of the personnel, and improving the safety of the personnel inspection.

[0105] The snorkeling carrier device 100 of the embodiment of the present application can automatically control the diving depth and automatically maintain stability underwater through the electronic cabin 60.

[0106] The electronic compartment 60 can be connected to the external device in a wireless or wired manner. The external device can be a mobile phone, a tablet, a computer, a control box, etc. The electronic compartment 60 is electrically connected to the first camera 21, the second camera 22, the lighting assembly 23, the first propeller 42, and the second propeller 43 to control the operation of the snorkeling carrier device 100.

[0107] In some embodiments, the electronic compartment 60 is provided with a distance sensor 61, which can detect the distance between the underwater component and the snorkeling carrier device 100, thereby reducing the risk of the snorkeling carrier device 100 touching the underwater component and improving the safety of the snorkeling carrier device 100 moving underwater. It can also be used to measure the distance between underwater components.

[0108] In some embodiments, the electronic cabin 60 is provided with a dose detector 62 for detecting nuclear radiation. The dose detector 62 detects the nuclear radiation dose so that personnel can promptly discover whether nuclear radiation leakage and other problems occur, thereby responding in time to reduce casualties and property losses.

[0109] In some embodiments, the second support plate 14 is provided with a hanging piece 141 to facilitate placing the snorkeling carrier device 100 into the water. For example, the hanging piece 141 may be a D-shaped shackle.

[0110] In some embodiments, the electronic compartment 60 is connected to the control box of the external device through a cable, and the control box can be used to power the snorkeling carrier device 100 and control the operation of the snorkeling carrier device 100. The floating block 30 is provided with a cable hole 33, and the cable passes through the cable hole 33 and is electrically connected to the electronic compartment 60.

[0111] The snorkeling carrier device 100 of the embodiment of the present application, when in use, remove the float 30, place the float 30 next to the frame 10, and pay attention to the float 30 not to be buckled upside down, and the screws and float pressing pieces used to fix the float 30 can be left in the corresponding connection holes of the float 30. After the cable passes through the cable hole 33 of the float 30, it is inserted into the cable socket 63 of the electronic compartment 60 and the nut on the cable socket 63 is tightened. Then, reinstall the float 30; then connect the hoisting part 141 and the cable sleeve; then install different working tools 200 and the balancing float 50 and the balancing weight according to different needs. The other end of the cable is connected to the control box; then power on for functional testing, and after confirmation, the snorkeling carrier device 100 is placed on the water surface using the cable, and finally the snorkeling carrier device 100 is remotely controlled by an external device to perform underwater operations.

[0112] In some cases, the salvage of foreign objects in reactor pools and pipelines is uncertain. The current underwater equipment has a complex structure and cannot be used in complex underwater environments. It can only handle the salvage of foreign objects in flat surfaces and vertical open areas in one direction; and the underwater equipment is large in size and complicated to operate. The snorkeling carrier device 100 of the embodiment of the present application has a compact structure, a simple equipment structure, a small size, a light weight, can be operated by one person, has a diversified carrying capacity, and can meet inspection, measurement and grasping needs; it has autonomous buoyancy, and the light and soft material will not bump into the equipment; it has remote operation capabilities and can avoid on-site operations.

[0113] The snorkeling carrier equipment 100 of the embodiment of the present application can greatly improve the effectiveness and efficiency of on-site emergency handling by replacing tools according to the needs of foreign body handling. In addition, the snorkeling carrier equipment 100 has a low risk of use and can be quickly assembled to handle on-site needs; the modular use scheme of the equipment has many combinations, which improves the efficiency of on-site equipment use; the equipment operation is user-friendly, the automatic control is easy to operate, the operating tool 200 is easy to maintain and can be reused, which is conducive to the professional maintenance of similar equipment; the tool is easy to process, the equipment occupies a small space, and is easy to store and transport; the tool cost is low and the economy is high; the equipment has a wide coverage of use and can be expanded for similar situations.

[0114] The above description of various embodiments tends to emphasize the differences between the various embodiments. The same or similar aspects can be referenced to each other, and for the sake of brevity, they will not be repeated herein.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be included in the scope of the claims and specification of the present application. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions that fall within the scope of the claims.

Claims

1. A snorkeling carrier device for use with an operating tool, characterized in that: The snorkeling carrier equipment includes: frame; A camera module is provided on the frame; A floating block, provided on the frame; A propulsion mechanism is provided on the frame, and is used to drive the snorkeling carrier device to dive; Wherein, the frame is provided with a mounting structure for mounting different working tools.

2. The snorkeling carrier device according to claim 1, characterized in that: The mounting structure includes one or more mounting holes provided on the rack.

3. The snorkeling carrier device according to claim 2, characterized in that: At least one side of the frame is provided with at least one mounting hole.

4. The snorkeling carrier device according to any one of claims 1 to 3, characterized in that: The frame includes a first side plate, a second side plate, a first support plate and a second support plate, the first side plate and the second side plate are spaced apart along a first direction, the first support plate and the second support plate are connected between the first side plate and the second side plate, the first support plate and the second support plate are spaced apart along a second direction, the floating block is installed on a side of the second support plate facing away from the first support plate, the propulsion mechanism is provided between the first support plate and the second support plate, and the first direction is perpendicular to the second direction; At least one of the first side plate, the second side plate, the first support plate, and the second support plate is provided with the mounting structure.

5. The snorkeling carrier device according to claim 4, characterized in that: The frame includes a first support leg and a second support leg, the first support leg and the second support leg are arranged on the side of the first support plate facing away from the second support plate, the first support leg and the second support leg are arranged at intervals perpendicular to the second direction, and the first support leg, the second support leg and the first support plate are arranged to form an installation space for installing the working tool.

6. The snorkeling carrier device according to claim 5, characterized in that: The installation space is used for installing the trim float and / or the trim weight.

7. The snorkeling carrier device according to claim 4, characterized in that: The propulsion mechanism includes a first propeller and a second propeller arranged between the first support plate and the second support plate. The first propeller is used to drive the snorkeling carrier equipment to dive along the second direction, and the second propeller is used to drive the snorkeling carrier equipment to move in a direction perpendicular to the second direction.

8. The snorkeling carrier device according to claim 7, characterized in that: The camera module includes a first camera, a second camera and a lighting assembly. Along a third direction, the first camera and the lighting assembly are arranged on one side of the frame, and the second camera is arranged on the other side of the frame. The third direction is perpendicular to the second direction and the first direction.

9. The snorkeling carrier device according to claim 4, characterized in that: The snorkeling carrier equipment also includes an electronic cabin electrically connected to the camera module and the propulsion mechanism, wherein the electronic cabin is arranged between the first support plate and the second support plate, and the electronic cabin is used to connect to external equipment.

10. The snorkeling carrier device according to any one of claims 1 to 3, characterized in that: The working tool includes a mounting frame and a working body mounted on the mounting frame; the mounting frame is used to be connected to the mounting structure, and the mounting frame is used for installing a balancing float and / or a balancing weight.

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