CN108312126A - A kind of high radiation space source item investigation robot in underground and method - Google Patents
A kind of high radiation space source item investigation robot in underground and method Download PDFInfo
- Publication number
- CN108312126A CN108312126A CN201711452071.5A CN201711452071A CN108312126A CN 108312126 A CN108312126 A CN 108312126A CN 201711452071 A CN201711452071 A CN 201711452071A CN 108312126 A CN108312126 A CN 108312126A
- Authority
- CN
- China
- Prior art keywords
- joint
- clamper
- mechanical arm
- survey meter
- lifting gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
Abstract
A kind of high radiation space source item investigation in underground robot, including bearing body, lifting gear is mounted on the bearing body, and tractive force up and down is provided to lifting gear by draft gear, mechanical arm is mounted on the end of lifting gear, survey meter clamper is mounted on the end of mechanical arm, and detecting devices is clamped on survey meter clamper.
Description
Technical field
The invention belongs to source items to investigate field, and in particular to a kind of high radiation space source item investigation robotic method in underground.
Background technology
In recent years, with the development of nuclear industry technology, also there is certain requirement to the investigation of space source item, for operation sky
Between to have the characteristics that high radiation and spatial position are distributed complex, investigate robot at present and cannot be satisfied job requirements, according to
The requirement of job built environment and radioactive source detecting proposes a kind of high radiation space source item investigation in underground robot.
Invention content
The purpose of the present invention is to provide a kind of high radiation space source items in underground to investigate robotic method, overcomes the prior art
Deficiency.
Technical scheme is as follows：A kind of high radiation space source item investigation in underground robot, including bearing body, rise
Falling unit is mounted on the bearing body, and is provided tractive force, mechanical arm up and down to lifting gear by draft gear and be mounted on
The end of lifting gear, survey meter clamper are mounted on the end of mechanical arm, detecting devices are clamped on survey meter clamper；
Mechanical arm includes：Joint one, joint two, joint three, joint four, joint five, joint six are sequentially connected from top to bottom.
It can be dismantled between joint four and joint five, joint five can be directly installed on the end of lifting gear.
A kind of high radiation space source item investigation method in underground, includes the following steps：
S1：Mechanical arm resets to original state, and joint two, joint three, joint four, joint six rotate so that machinery
Arm is in vertical state, i.e. arm between joint two and joint three, joint three and joint four, joint four and joint six is straight at one
On line；
S2：Draft gear traction lifting gear moves down, the figure in the detecting devices passback space on survey meter clamper
As information, after lifting gear drops to detection zone, draft gear is stopped,
S3：Pass through each articulation of control machinery arm successively so that distal probe instrument clamper can reach what needs detected
Each region, and return data；
S4：After the completion of mechanical arm detection, mechanical arm resets to original state, and then draft gear is drawn so that lifting gear
It moves down, the image information in the detecting devices passback space on survey meter clamper, lifting gear drops to next detection
Behind region, draft gear is stopped, and then passes through each articulation of control machinery arm successively so that distal probe instrument clamper
5 can reach each region for needing to detect, and return data；
S5：It is repeated in S3-S4, until completing Detection task.
In the S3, wherein each articulation of mechanical arm specifically includes：By controlling the rotation in joint one, can to visit
It surveys instrument clamper to move in a circle as radius with six horizontal distance of joint using joint two, be detected；Joint two, is closed at joint three
The rotation successively of section four, can increase the operating radius of survey meter clamper；Cradle head five can make survey meter clamper certainly
Body rotates detection operation；Cradle head six can make survey meter clamper pitching movement.Pass through the detection on survey meter clamper
The information that equipment is passed back, when discovery has barrier, cradle head two, joint three, joint four, can be made with avoiding obstacles successively
Survey meter clamper reaches search coverage.
Further include S6：When detection operation is completed, mechanical arm resets to original state, joint two, joint three, joint four,
Joint six rotates so that mechanical arm is in vertical state, i.e. joint two and joint three, joint three and joint four, joint four
Arm between joint six is point-blank；Then draft gear traction lifting gear is shunk upwards, when lifting gear is complete
When withdrawal, draft gear is stopped, and then passes through each articulation of control machinery arm successively so that distal probe instrument clamper
Reset to original state.
The remarkable result of the present invention is：
(1) six articulated mechanical arms are installed in the lifting gear end of the robot, can be supervised in the working space of environment complexity
The range of survey is wider, and can have barrier avoiding function by sensor on clamper.
(2) in six articulated mechanical arms of the robot, then the 4th and the 5th joint can be directly installed on lifting with Quick Release
The end of device thus can increase or decrease the movable joint of mechanical arm according to different job requirements, be saved with reaching
Resource, the purpose being conveniently operated.
Description of the drawings
The undergrounds of the present invention Fig. 1 high radiation space source item investigation robot schematic diagram
The high radiation space source item in the undergrounds of the present invention Fig. 2 investigates joint of robot distribution map
In figure：1, draft gear；2, lifting gear；3, bearing body；4, mechanical arm；5, survey meter clamper；6, joint
One；7, joint two；8, joint three；9, joint four；10, joint five；11, joint six.
Specific implementation mode
As shown in Figure 1, a kind of high radiation space source item in underground investigates robot, including：Bearing body 3, lifting gear 2 are pacified
Tractive force up and down is provided to lifting gear 2 on the bearing body 3, and by draft gear 1, mechanical arm 4 is mounted on lifting
The end of device 2, survey meter clamper 5 are mounted on the end of mechanical arm 4, detecting devices are clamped on survey meter clamper 5.
As shown in Fig. 2, mechanical arm 4 includes：Joint 1, joint 27, joint 38, joint 49, joint 5 10, joint six
11 are sequentially connected from top to bottom.It can wherein be dismantled between joint 49 and joint 5 10, joint 5 10 can be directly installed on liter
The end of falling unit 2.
A kind of high radiation space source item investigation method in underground:Include the following steps
S1：Mechanical arm 4 resets to original state, and joint 27, joint 38, joint 49, joint 6 11 rotate, make
Mechanical arm 4 be in vertical state, i.e., joint 27 and joint 38, joint 38 and joint 49, joint 49 and joint 6 11 it
Between arm point-blank；
S2：Draft gear 1 draws lifting gear 2 and moves down, the detecting devices passback space on survey meter clamper 5
Image information, after lifting gear 2 drops to detection zone, draft gear 1 is stopped,
S3：Pass through 4 each articulation of control machinery arm successively so that distal probe instrument clamper 5, which can reach, to be needed to detect
Each region, and return data.
Wherein 4 each articulation of mechanical arm specifically includes：By controlling the rotation in joint 1, can survey meter be pressed from both sides
Holder 5 is moved in a circle with 6 11 horizontal distance of joint as radius using joint 27, is detected；Joint 27, is closed at joint 38
The rotation successively for saving 49, can increase the operating radius of survey meter clamper 5；Cradle head 5 10 can be such that survey meter is clamped
Device 5 itself rotates detection operation；Cradle head 6 11 can make survey meter clamper pitching movement.Pass through survey meter clamper 5
On the information passed back of detection device, when discovery has barrier, cradle head 27, joint 38, joint 49, can keep away successively
Opening barrier makes survey meter clamper reach search coverage.
S4：After the completion of mechanical arm 4 detects, mechanical arm 4 resets to original state, and then draft gear 1 is drawn so that lifting
Device 2 moves down, and the image information in the detecting devices passback space on survey meter clamper 5, lifting gear 2 drops to next
After a detection zone, draft gear 1 is stopped, and then passes through 4 each articulation of control machinery arm successively so that distal probe
Instrument clamper 5 can reach each region for needing to detect, and return data.
S5：It is repeated in S3-S4, until completing Detection task.
S6：When detection operation is completed, mechanical arm 4 resets to original state, and joint 27, joint 49, is closed at joint 38
It saves 6 11 to rotate so that mechanical arm 4 is in vertical state, i.e. joint 27 and joint 38, joint 38 and joint 49, pass
Save arm between 49 and joint 6 11 point-blank；Then draft gear 1 draws lifting gear 2 and shrinks upwards, works as lifting
When device 2 is withdrawn completely, draft gear 1 is stopped, and then passes through 4 each articulation of control machinery arm successively so that end
Survey meter clamper 5 resets to original state.
Claims (5)
1. a kind of high radiation space source item in underground investigates robot, it is characterised in that：Including bearing body (3), lifting gear (2)
On the bearing body (3), and by draft gear (1) tractive force up and down, mechanical arm (4) are provided to lifting gear (2)
End mounted on lifting gear (2), survey meter clamper (5) are mounted on the end of mechanical arm (4), survey meter clamper (5)
Upper clamping detecting devices；
Mechanical arm (4) includes：Joint one (6), joint two (7), joint three (8), joint four (9), joint five (10), joint six
(11) it is sequentially connected from top to bottom.
2. according to claim 1 a kind of high radiation space source item in underground investigate robot, it is characterised in that：Joint four (9)
It can be dismantled between joint five (10), joint five (10) can be directly installed on the end of lifting gear 2.
3. a kind of method for investigating robot using the high radiation space source item in underground described in claim 1, it is characterised in that：Packet
Include following steps：
S1：Mechanical arm (4) resets to original state, and joint two (7), joint three (8), joint four (9), joint six (11) occur to turn
It is dynamic so that mechanical arm (4) is in vertical state, i.e. joint two (7) and joint three (8), joint three (8) and joint four (9), joint
Arm between four (9) and joint six (11) is point-blank；
S2：Draft gear (1) traction lifting gear (2) moves down, and the detecting devices on survey meter clamper (5) returns space
Image information, after lifting gear (2) drops to detection zone, draft gear (1) is stopped,
S3：Pass through control machinery arm (4) each articulation successively so that distal probe instrument clamper (5), which can reach, to be needed to detect
Each region, and return data；
S4：After the completion of mechanical arm (4) detection, mechanical arm (4) resets to original state, and then draft gear (1) is drawn so that rising
Falling unit (2) moves down, the image information in the detecting devices passback space on survey meter clamper (5), under lifting gear (2)
After dropping to next detection zone, draft gear (1) is stopped, then by control machinery arm (4) each articulation successively,
So that distal probe instrument clamper (5) can reach each region for needing to detect, and return data；
S5：It is repeated in S3-S4, until completing Detection task.
4. according to claim 3 a kind of high radiation space source item investigation method in underground, it is characterised in that：In the S3,
Each articulation of middle mechanical arm (4) specifically includes：By controlling the rotation of joint one (6), it can make survey meter clamper (5)
It is moved in a circle, is detected as radius with joint six (11) horizontal distance using joint two (7)；Joint two (7), joint three (8),
The rotation successively in joint four (9), can increase the operating radius of survey meter clamper (5)；Cradle head five (10) can make spy
Survey instrument clamper (5) itself rotation detection operation；Cradle head six (11) can make survey meter clamper pitching movement.Pass through spy
The information that the detection device surveyed on instrument clamper (5) is passed back, when discovery has barrier, cradle head two (7), joint three successively
(8), joint four (9) can make survey meter clamper reach search coverage with avoiding obstacles.
5. according to claim 3 a kind of high radiation space source item investigation method in underground, it is characterised in that：Further include S6：When
When detection operation is completed, mechanical arm (4) resets to original state, joint two (7), joint three (8), joint four (9), joint six
(11) it rotates so that mechanical arm (4) is in vertical state, i.e. joint two (7) and joint three (8), joint three (8) and joint
Arm between four (9), joint four (9) and joint six (11) is point-blank；Then draft gear (1) draws lifting gear
(2) it shrinks upwards, when lifting gear (2) is withdrawn completely, draft gear (1) is stopped, and then passes through control machinery successively
Arm (4) each articulation so that distal probe instrument clamper (5) resets to original state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711452071.5A CN108312126A (en) | 2017-12-28 | 2017-12-28 | A kind of high radiation space source item investigation robot in underground and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711452071.5A CN108312126A (en) | 2017-12-28 | 2017-12-28 | A kind of high radiation space source item investigation robot in underground and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108312126A true CN108312126A (en) | 2018-07-24 |
Family
ID=62893845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711452071.5A Pending CN108312126A (en) | 2017-12-28 | 2017-12-28 | A kind of high radiation space source item investigation robot in underground and method |
Country Status (1)
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| CN (1) | CN108312126A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091341A (en) * | 2019-05-16 | 2019-08-06 | 成都南方电子仪表有限公司 | A kind of hydraulic press electromechanical hand |
| CN110161079A (en) * | 2019-06-14 | 2019-08-23 | 江苏集萃智能制造技术研究所有限公司 | A kind of tunnel safety detection robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09152406A (en) * | 1995-11-30 | 1997-06-10 | Mitsubishi Heavy Ind Ltd | Internal surface inspection instrument for piping |
| US5762467A (en) * | 1996-04-26 | 1998-06-09 | Par Systems, Inc. | Underground storage tank manipulator |
| JP2009180595A (en) * | 2008-01-30 | 2009-08-13 | Hitachi-Ge Nuclear Energy Ltd | Pipe inner face inspecting device |
| CN105619420A (en) * | 2016-03-22 | 2016-06-01 | 深圳市百事达卓越科技股份有限公司 | Anti-riot robot used for reforming oil tank and oil tank reforming working station |
| CN107059906A (en) * | 2017-04-24 | 2017-08-18 | 上海约堡重工机械制造有限公司 | A kind of method that utilization underground shaft robot applies major diameter open caisson |
-
2017
- 2017-12-28 CN CN201711452071.5A patent/CN108312126A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09152406A (en) * | 1995-11-30 | 1997-06-10 | Mitsubishi Heavy Ind Ltd | Internal surface inspection instrument for piping |
| US5762467A (en) * | 1996-04-26 | 1998-06-09 | Par Systems, Inc. | Underground storage tank manipulator |
| JP2009180595A (en) * | 2008-01-30 | 2009-08-13 | Hitachi-Ge Nuclear Energy Ltd | Pipe inner face inspecting device |
| CN105619420A (en) * | 2016-03-22 | 2016-06-01 | 深圳市百事达卓越科技股份有限公司 | Anti-riot robot used for reforming oil tank and oil tank reforming working station |
| CN107059906A (en) * | 2017-04-24 | 2017-08-18 | 上海约堡重工机械制造有限公司 | A kind of method that utilization underground shaft robot applies major diameter open caisson |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110091341A (en) * | 2019-05-16 | 2019-08-06 | 成都南方电子仪表有限公司 | A kind of hydraulic press electromechanical hand |
| CN110161079A (en) * | 2019-06-14 | 2019-08-23 | 江苏集萃智能制造技术研究所有限公司 | A kind of tunnel safety detection robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180724 |