CN109333564A - A kind of nuclear radiation environment monitoring sampling robots - Google Patents
A kind of nuclear radiation environment monitoring sampling robots Download PDFInfo
- Publication number
- CN109333564A CN109333564A CN201811425701.4A CN201811425701A CN109333564A CN 109333564 A CN109333564 A CN 109333564A CN 201811425701 A CN201811425701 A CN 201811425701A CN 109333564 A CN109333564 A CN 109333564A
- Authority
- CN
- China
- Prior art keywords
- chassis
- mechanical arm
- nuclear radiation
- motor
- camera
- 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.)
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Classifications
-
- 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/16—Measuring radiation intensity
- G01T1/167—Measuring radioactive content of objects, e.g. contamination
Abstract
The invention discloses a kind of radiation environmental monitoring sampling robots comprising chassis, electric control box and remote controler are equipped with mechanical arm and nuclear radiation monitoring device on chassis, are provided with gripper and fixed camera on mechanical arm；Nuclear radiation monitoring device includes that the first rotating platform, holder and camera mould group, the first rotating platform are mounted on chassis, and holder is mounted on the first rotating platform by support rod, and camera mould group is mounted on holder；The bottom of chassis is equipped with driving device.Nuclear radiation environment monitoring sampling robots provided by the invention have adaptability strongly to complicated landform, solve the problems, such as ordinary robot's limited speed；The mechanical arm and radiation monitoring equipment of carrying are easy to monitor nuclear radiation source and realize that, from main sampling, entire nuclear radiation environment monitoring sampling robots are suitable for the monitoring of radiation hazards eradiation source, emergency and radiant matter spot sampling operation under complicated landform.
Description
Technical field
The present invention relates to nuclear industry special equipment fields, and in particular to a kind of nuclear radiation environment monitoring sampling robots.
Background technique
Nuclear energy is one of most desired future source of energy of the mankind, and the development of nuclear industry constantly pushes the progress of the mankind, but
With the utilization and development of nuclear energy and nuclear technology, nuclear leakage, nuclear radioactive source event out of control are also increasing.Fukushima, Japan nuclear leakage
Accident once caused international highest attention, generally required professional for the processing of these Nuclear Accidents to handle, but nuclear radiation
There is great threat to the health of people, and robot can replace people and work under nuclear environment, so various countries are for nuclear ring
The robot research to work under border never stopped.The Monirobo robot that Japan develops at present is used to be sent to high-radiation area
Domain is monitored to be detected with radiation level.710 robot of Packbot 510 and Warrior that iRobot company of the U.S. develops,
Once it assisted assistance Japan to solve Fukushima, Japan and wears a nuclear power plant accident；But its caterpillar chassis used be difficult to adapt to it is various multiple
Miscellaneous landform, and its travel speed is also by great limitation.
Summary of the invention
For the above-mentioned deficiency of the prior art, the present invention provides a kind of nuclear radiation rings for adapting to various complicated landform environment
Border monitors sampling robots.
To achieve the above object of the invention, the technical scheme adopted by the invention is as follows:
There is provided a kind of nuclear radiation environment monitoring sampling robots comprising chassis, electric control box and remote controler, vehicle
Mechanical arm and nuclear radiation monitoring device are installed on body chassis, are provided with gripper and fixed camera on mechanical arm；Nuclear radiation prison
Surveying device includes that the first rotating platform, holder and camera mould group, the first rotating platform are mounted on chassis, and holder passes through branch
Strut is mounted on the first rotating platform, and camera mould group is mounted on holder；The bottom of chassis is equipped with driving device；Electricity
The data processing module and first communication module being electrically connected to each other, camera mould group, mechanical arm, driving dress are provided in gas control cabinet
It sets and is electrically connected with data processing module；Remote controler includes the control module being electrically connected to each other and second communication module, and second is logical
Letter module is matched with first communication module, and control module includes signal input module and display screen.
Further, driving device includes driving motor and the triangle being installed on chassis installation shell, driving electricity
Machine is mounted on the top of triangle installation shell, and there are two drive sprocket, two drive sprockets point for installation in the shaft of driving motor
Not Tong Guo chain connect with two driven sprockets, two driven sprockets be respectively arranged in triangle installation shell lower end two feet
On, and wheel is provided on two driven sprockets；Driving motor is electrically connected with data processing module.
Further, axle is mounted on before and after chassis, and axle is connect with chassis by bearing flange,
The both ends of axle are mounted on driving device, and triangle installation shell is connect by bearing flange with axle.
Further, drive sprocket and driven sprocket are mounted in triangle mounting shell body, driving motor and wheel installation
It is external in triangle mounting shell.
Further, mechanical arm includes the second rotating platform being mounted on chassis, is arranged under the second rotating platform
There are a rotating electric machine and retarder, third mechanical arm is connected with by torque-motor on the second rotating platform, third mechanical arm passes through
Torque-motor is connected with second mechanical arm, and second mechanical arm is connected with first mechanical arm by torque-motor；Gripper and fixation
Camera is mounted in first mechanical arm, and torque-motor passes through motor driving module and is electrically connected with data processing module, rotation
Motor and retarder are electrically connected with data processing module.
Further, gripper and fixed camera are respectively arranged in the both ends of first mechanical arm, torque-motor and the first machine
The middle part of tool arm connects.
Further, torque-motor is also installed, torque-motor passes through motor driving module and data processing mould in holder
Block electrical connection.
Further, camera model includes gamma camera and gamma dosemeter.
Further, the photographic subjects of fixed camera are located in the zone of action of gripper.
Further, the front end of chassis is provided with general smooth lamp and fisheye camera, general smooth lamp and fisheye camera with number
It is electrically connected according to processing module；Mould loft floor is provided on chassis.
It monitors, meet an urgent need the invention has the benefit that the present invention is suitable for the radiation hazards eradiation source under complicated landform
And radiant matter spot sampling operation, nuclear radiation monitoring device and mechanical arm are equipped on chassis, and camera mould group is to nuclear radiation
Region is detected, and the gripper on mechanical arm is used for spot sampling, and is shot and monitored by fixed camera；Camera mould
Group can be rotated by the drive of the first rotating platform and holder, realized multi-angle of view observation, be easy to multi-faceted monitoring nuclear radiation
Source；Chassis driving device for driving robot to move integrally, remote controler by remote control control robot carry out sampling with
Detection.
Driving device passes through the rotation of two driven sprockets of chain-driving using two drive sprockets respectively, while triangle is pacified
Shelving can also rotate freely around axle, again mutually indepedent between such four groups of driving devices, to realize wheel precession before guarantee
While power, according to various landform needs, energy adjust automatically wheel position, to adapt to various complicated landforms.
The mechanical arm carried on chassis uses the rotatable mechanical arm of three sections, has multiple freedom degrees, can be real
Existing multiple directions are move freely, and are carried out from main sampling, fixed camera can real time inspection gripper working condition, and carry out real-time
Manipulation；General smooth lamp provides illuminating effect, and fisheye camera is that the travelling route of robot is monitored in real time, facilitates the operation of distal end
Member's operation.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram that nuclear radiation environment monitors sampling robots.
Fig. 2 is the top view that nuclear radiation environment monitors sampling robots.
Fig. 3 is the structural schematic diagram of driving device.
Fig. 4 is the structural schematic diagram of mechanical arm.
Fig. 5 is the structural schematic diagram of camera mould group.
Wherein, 1, triangle installation shell, 2, chassis, 3, general smooth lamp, 4, fisheye camera, 5, wheel, 6, mould loft floor, 7,
Torque-motor, 8, support rod, 9, driving motor, 10, support, 11, third mechanical arm, 12, second mechanical arm, 13, gripper,
14, first mechanical arm, 15, fixed camera, the 16, second rotating platform, 17, rotating electric machine, 18, driven sprocket, 19, chain, 20,
Drive sprocket, the 21, first rotating platform, 22, holder, 23, gamma camera, 24, gamma dosemeter, 25, axle, 26, bearing method
It is blue.
Specific embodiment
A specific embodiment of the invention is described below, in order to facilitate understanding by those skilled in the art this hair
It is bright, it should be apparent that the present invention is not limited to the ranges of specific embodiment, for those skilled in the art,
As long as various change is in the spirit and scope of the present invention that the attached claims limit and determine, these variations are aobvious and easy
See, all are using the innovation and creation of present inventive concept in the column of protection.
As shown in Figure 1, nuclear radiation environment monitoring sampling robots include chassis 2, electric control box and remote controler, vehicle
Mechanical arm and nuclear radiation monitoring device are installed on body chassis 2, gripper 13 and fixed camera 15 are provided on mechanical arm；Core spoke
Penetrating monitoring device includes the first rotating platform 21, holder 22 and camera mould group, and the first rotating platform 21 is mounted on chassis 2
On, holder 22 is mounted on the first rotating platform 21 by support rod 8, and camera mould group is mounted on holder 22；Chassis 2
Bottom is equipped with driving device.
Electric control box is mounted on the bottom of chassis 2, is provided at the data being electrically connected to each other in electric control box
Reason module and first communication module, camera mould group, mechanical arm, driving device are electrically connected with data processing module；Remote controler packet
The control module being electrically connected to each other and second communication module are included, second communication module is matched with first communication module, control module
Including signal input module and display screen.
The monitoring of radiation hazards eradiation source, emergency and the radiant matter spot sampling that the present invention is suitable under complicated landform are made
Industry is equipped with nuclear radiation monitoring device and mechanical arm on chassis 2, and camera mould group detects nuclear radiation region, mechanical
Gripper 13 on arm is used for spot sampling, and is shot and monitored by fixed camera 15；Camera mould group can pass through first
It is rotated on rotating platform 21 with the drive of holder 22, realizes multi-angle of view observation, be easy to multi-faceted monitoring nuclear radiation source；Chassis
For driving robot to move integrally, remote controler controls robot by remote control and is sampled and detected driving device.
As shown in Figures 2 and 3, driving device includes driving motor 9 and the triangle being installed on chassis 2 installation shell
1, driving motor 9 is mounted on the top of triangle installation shell 1, drive sprocket 20 there are two installations in the shaft of driving motor 9, and two
A drive sprocket 20 is connect by chain 19 with two driven sprockets 18 respectively, and two driven sprockets 18 are respectively arranged in triangle peace
On two feet for filling 1 lower end of shell, and wheel 5 is provided on two driven sprockets 18.
The front and back of chassis 2 is mounted on axle 25, and axle 25 is connect with chassis 2 by bearing flange 26,
Axle 25 runs through chassis 2；The both ends of axle 25 are mounted on driving device, and triangle installs shell 1 and passes through bearing flange 26
It is connect with axle 25；Drive sprocket 20 and driven sprocket 18 be mounted on triangle installation shell 1 in, protection chains 19 and it is driven and
The transmission of drive sprocket 20, driving motor 9 and wheel 5 are installed on outside triangle installation shell 1, it is ensured that all wheels 5 are respectively positioned on together
On one vertical guide.
Driving device drives the rotation of two driven sprockets 18 using two drive sprockets 20 by chain 19 respectively, simultaneously
Triangle mounting rack can also be rotated freely around axle 25, again mutually indepedent between such four groups of driving devices, to realize that wheel 5 is being protected
While demonstrate,proving onward impulse, according to various landform needs, 5 position of energy adjust automatically wheel, to adapt to various complicated landforms.
As shown in figure 4, mechanical arm includes the second rotating platform 16 being mounted on chassis 2, the second rotating platform 16
It is arranged with rotating electric machine 17 and retarder, passes through torque-motor 7 on the second rotating platform 16 and is connected with third mechanical arm 11, with
The torque-motor 7 that third mechanical arm 11 connects is installed in support 10, and support 10 is installed on the second rotating platform 16；Third machine
Tool arm 11 is connected with second mechanical arm 12 by torque-motor 7, and second mechanical arm 12 is connected with the first machinery by torque-motor 7
Arm 14；Gripper 13 and fixed camera 15 are mounted in first mechanical arm 14, torque-motor 7 by motor driving module with
Data processing module electrical connection, carries out data transmission and handles, motor and retarder are electrically connected with data processing module.
Torque-motor 7 is mounted on the junction of second mechanical arm 12, second mechanical arm 12 and third mechanical arm 11, torque horse
The effect for realizing mechanical arm Abduction up to 7；The mechanical arm carried on chassis 2 uses the rotatable mechanical arm of three sections, has
Multiple freedom degrees are able to achieve multiple directions and move freely.
Gripper 13 and fixed camera 15 are respectively arranged in the both ends of first mechanical arm 14, torque-motor 7 and the first machinery
The middle part of arm 14 connects, and the photographic subjects of fixed camera 15 are the zone of action of gripper 13；Moment is also installed in holder 22
Motor 7, torque-motor 7 are electrically connected by motor driving module with data processing module.
As shown in figure 5, camera model includes gamma camera 23 and gamma dosemeter 24, the front end of chassis 2 is provided with
General smooth lamp 3 and fisheye camera 4, general smooth lamp 3 and fisheye camera 4 are electrically connected with data processing module；General smooth lamp 3 provides illumination and makees
With fisheye camera 4 is that the travelling route of robot is monitored in real time, and the operator of distal end is facilitated to operate.It is set on chassis 2
It is equipped with mould loft floor 6, for placing the test sample of the crawl of gripper 13.
The course of work of the nuclear radiation environment monitoring sampling robots of this programme are as follows: staff's hand-held remote controller is far from core
Radiation areas, robot are placed in nuclear radiation region, and remote control control robot moves in nuclear radiation region, staff
The sample in nuclear radiation region is automatically grabbed by the gripper on remote control control mechanical arm, and is placed on mould loft floor；?
During robot is mobile, the radioactive substance in region is marked in gamma camera, analyzes the distribution of radiation, is
Staff provides the result and information of detection.
Data processing module is communicated by RS485 bus with first communication module, then again by first communication module
It is communicated with remote controler；Data processing module is used based on Cortex-M4 embedded microcontroller STM32F407 and embedded
Real time operating system μ C/OS-II has many advantages, such as that high reliablity, processing speed be fast, low in energy consumption, information security, and system is supported more
Synchronization and communication between task management and task can be handled in real time multiple sensor informations, realize autonomous control, be met
The needs of control and audio video transmission under complicated environmental condition；Motor driving module uses the MEGA8 technical grade monolithic of ATMEL
Machine is realized, realizes the driving to motor using high-power MOS FET, is realized to the revolving speed control of direct current generator and position control.
It is adapted to strongly in conclusion nuclear radiation environment monitoring sampling robots provided by the invention have complicated landform
Property, solve the problems, such as ordinary robot's limited speed；The mechanical arm and radiation monitoring equipment of carrying are easy to monitor nuclear radiation source
And realize that, from main sampling, entire nuclear radiation environment monitoring sampling robots are suitable for the radiation hazards eradiation source under complicated landform
Monitoring, emergency and radiant matter spot sampling operation.
Claims (10)
1. a kind of nuclear radiation environment monitors sampling robots, which is characterized in that including chassis (2), electric control box and distant
Device is controlled, mechanical arm and nuclear radiation monitoring device are installed on the chassis (2), are provided with gripper on the mechanical arm
(13) and fixed camera (15)；The nuclear radiation monitoring device includes the first rotating platform (21), holder (22) and camera mould group,
First rotating platform (21) is mounted on chassis (2), and the holder (22) is mounted on the first rotation by support rod (8)
Turn on platform (21), the camera mould group is mounted on holder (22)；The bottom of the chassis (2) is equipped with driving dress
It sets；It is provided with the data processing module and first communication module being electrically connected to each other in the electric control box, the camera mould group,
Mechanical arm, driving device are electrically connected with data processing module；The remote controler includes the control module being electrically connected to each other and
Two communication modules, the second communication module are matched with first communication module, the control module include signal input module and
Display screen.
2. nuclear radiation environment according to claim 1 monitors sampling robots, which is characterized in that the driving device includes
Driving motor (9) and the triangle being installed on chassis (2) installation shell (1), the driving motor (9) are mounted on triangle peace
The top of shell (1) is filled, there are two drive sprocket (20), two drive chains for installation in the shaft of the driving motor (9)
Wheel (20) is connect by chain (19) with two driven sprockets (18) respectively, and two driven sprockets (18) are respectively arranged in three
Angle is installed on two feet of shell (1) lower end, and is provided with wheel (5) on two driven sprockets (18)；The driving motor
(9) it is electrically connected with data processing module.
3. nuclear radiation environment according to claim 2 monitors sampling robots, which is characterized in that the chassis (2)
Front and back be mounted on axle (25), and axle (25) and chassis (2) are connect by bearing flange (26), the axle
(25) both ends are mounted on driving device, and triangle installation shell (1) is connect by bearing flange (26) with axle (25).
4. nuclear radiation environment according to claim 2 monitors sampling robots, which is characterized in that the drive sprocket (20)
It is mounted in triangle installation shell (1) with driven sprocket (18), the driving motor (9) and wheel (5) are installed on triangle peace
Fill shell (1) outside.
5. nuclear radiation environment according to claim 1 monitors sampling robots, which is characterized in that the mechanical arm includes peace
The second rotating platform (16) on chassis (2), second rotating platform (16) are arranged with rotating electric machine (17)
And retarder, it is connected with third mechanical arm (11) by torque-motor (7) on second rotating platform (16), the third machine
Tool arm (11) is connected with second mechanical arm (12) by torque-motor (7), and the second mechanical arm (12) passes through torque-motor (7)
It is connected with first mechanical arm (14)；The gripper (13) and fixed camera (15) are mounted on first mechanical arm (14), institute
It states torque-motor (7) to be electrically connected by motor driving module with data processing module, the rotating electric machine (17) and retarder
It is electrically connected with data processing module.
6. nuclear radiation environment according to claim 5 monitors sampling robots, which is characterized in that the gripper (13) and
Fixed camera (15) is respectively arranged in the both ends of first mechanical arm (14), the torque-motor (7) and first mechanical arm (14)
Middle part connection.
7. nuclear radiation environment according to claim 1 monitors sampling robots, which is characterized in that in the holder (22)
It is equipped with torque-motor (7), the torque-motor (7) is electrically connected by motor driving module with data processing module.
8. nuclear radiation environment according to claim 1 monitors sampling robots, which is characterized in that the camera model includes
Gamma camera (23) and gamma dosemeter (24).
9. nuclear radiation environment according to claim 1 monitors sampling robots, which is characterized in that the fixed camera (15)
Photographic subjects be located in the zone of action of gripper (13).
10. nuclear radiation environment according to claim 1 monitors sampling robots, which is characterized in that the chassis (2)
Front end be provided with general smooth lamp (3) and fisheye camera (4), the general smooth lamp (3) and fisheye camera (4) are and data processing module
Electrical connection；Mould loft floor (6) are provided on the chassis (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811425701.4A CN109333564A (en) | 2018-11-27 | 2018-11-27 | A kind of nuclear radiation environment monitoring sampling robots |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811425701.4A CN109333564A (en) | 2018-11-27 | 2018-11-27 | A kind of nuclear radiation environment monitoring sampling robots |
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| CN109333564A true CN109333564A (en) | 2019-02-15 |
Family
ID=65318138
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| CN201811425701.4A Pending CN109333564A (en) | 2018-11-27 | 2018-11-27 | A kind of nuclear radiation environment monitoring sampling robots |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111015685A (en) * | 2019-12-30 | 2020-04-17 | 西南科技大学 | System for dismantling and retrieving maintenance platform in underground nuclear environment and control method thereof |
| CN112098673A (en) * | 2020-10-29 | 2020-12-18 | 杭州智行远机器人技术有限公司 | Automatic sampling control system and control method based on SCARA robot |
| CN113681578A (en) * | 2021-09-29 | 2021-11-23 | 绵阳久强智能装备有限公司 | Nuclear biochemical sampling robot and method |
| CN113884330A (en) * | 2021-09-29 | 2022-01-04 | 绵阳久强智能装备有限公司 | Nuclear biochemical sampling device and sampling method |
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