CN109382816A - A kind of high radiation underground space source item investigation robot system - Google Patents

Abstract

The invention belongs to intelligent jacking system technical fields, and in particular to a kind of high radiation underground space source item investigation robot system.Including traction device, lifting device, control cabinet, remote control holder, bearing body, instrument clamper and man-machine interactive system；Traction device, lifting device and control cabinet are mounted on bearing body, remote control holder is mounted on lifting device, instrument clamper is mounted on remote control holder, and man-machine interactive system controls traction device, lifting device, remote control holder, bearing body and the operation of instrument clamper.The present invention is provided simultaneously with the functions such as implementation monitoring, live visual pattern acquisition on the basis of having jacking system function, and completes the task of the long-range control under complicated environmental condition, data transmission.

Description

A kind of high radiation underground space source item investigation robot system

Technical field

The invention belongs to intelligent jacking system technical fields, and in particular to a kind of high radiation underground space source item investigation machine Device people's system.

Background technique

The present invention is directed to the requirements according to job built environment and radioactive source detecting, establish a set of intelligent investigation robot System.On the basis of having jacking system function, the specific functions such as implementation monitoring, live visual pattern acquisition are provided simultaneously with, And complete the long-range control under complicated environmental condition, data transfer task.Working space has high radiation and spatial position distribution Complex feature.This requires: after lifting device is using breaking down, to be easy to field maintenance and replacement vulnerable part；It rises Falling unit fixed form is simple, size is small and exquisite, compact-sized, can carry instrument dive, while can be coated by gas account and personnel It is easy to operate；The in-site installation operating time is short as far as possible, avoids field maintenance.The structure of lifting device currently on the market, control Precision, operating environment and stability are all unsatisfactory for the demand at scene, therefore need according to circumstances to invent height radiation underground space source Machine system is investigated, for the high radiant matter actual conditions in Underground space, for subsequent processing.

Summary of the invention

The object of the present invention is to provide a kind of high radiation underground space source items to investigate robot system, inner ring of especially having family The remote jacking system of intelligence that border and radioactive source detecting require.

In order to achieve the above objectives, the technical solution used in the present invention are as follows:

A kind of high radiation underground space source item investigates robot system, including traction device, lifting device, control cabinet, distant Control holder, bearing body, instrument clamper and man-machine interactive system；Traction device, lifting device and control cabinet are mounted on carrying On car body, remote control holder is mounted on lifting device, and instrument clamper is mounted on remote control holder, and man-machine interactive system control is led Leading-in device, lifting device, remote control holder, bearing body and the operation of instrument clamper.

The lifting device includes stay-supported encoder, encoder switching wheel, leading block, keeps off on Pyatyi extension sleeve Block, level Four extension sleeve upper stopper, three-level extension sleeve upper stopper, second level extension sleeve upper stopper, steel cable clamp, wirerope It tries to stop people from fighting each other, steel cord ends rope clamp, Pyatyi extension sleeve, level Four extension sleeve, three-level extension sleeve, second level extension sleeve, level-one Extension sleeve, extension sleeve slide block limiting plate, polyurethane block, lower stopper, fast replacing device interface, guide rail A and sliding block A；Level-one Extension sleeve, second level extension sleeve, three-level extension sleeve, level Four extension sleeve and Pyatyi extension sleeve are sequentially sleeved in from inside to outside Together, it can move up and down between sleeves at different levels；Pyatyi extension sleeve, level Four extension sleeve, three-level extension sleeve and second level are stretched The end of contracting sleeve is respectively provided with there are two lower stopper；Pyatyi extension sleeve, level Four extension sleeve, three-level extension sleeve and second level are stretched The upper end of contracting sleeve is respectively arranged with Pyatyi extension sleeve upper stopper, level Four extension sleeve upper stopper, keeps off on three-level extension sleeve Block and second level extension sleeve upper stopper；Extension sleeve slide block limiting plate, extension sleeve sliding block are installed on the outside of level-one extension sleeve Polyurethane block is installed below limit plate, sliding block A is mounted in extension sleeve slide block limiting plate, and sliding block A connects with guide rail A and makes Extension sleeves at different levels opposite can slide, and guide rail A is riveted on the inside of second level extension sleeve；Second level extension sleeve and three-level extension sleeve Between, between three-level extension sleeve and level Four extension sleeve, between level Four extension sleeve and Pyatyi extension sleeve by flexible Sleeve-sliders limit plate, polyurethane block, sliding block A are connected with guide rail A；Between three-level extension sleeve and level Four extension sleeve, four Sliding block A there are two being respectively provided between grade extension sleeve and Pyatyi extension sleeve；Between level-one extension sleeve and second level extension sleeve, A sliding block A is provided between second level extension sleeve and three-level extension sleeve；Stay-supported encoder is mounted on Pyatyi telescopic Cylinder upper end, encoder switching wheel and leading block are fixedly mounted on Pyatyi extension sleeve upper end；Steel cable clamp is mounted on steel wire Rope end rope clamp upper end；Steel cord ends rope clamp is mounted on wirerope tries to stop people from fighting each other, and wirerope, which is tried to stop people from fighting each other, is mounted on level-one extension sleeve The top；The end of level-one extension sleeve is equipped with fast replacing device interface；Wirerope one end provides pulling force by traction mechanism, The other end sequentially passes through steel cable clamp, wirerope is tried to stop people from fighting each other and steel cord ends rope clamp；

During decline, since level-one extension sleeve to level Four extension sleeve gravity can be attached on Pyatyi extension sleeve, The gravity of level-one extension sleeve to three-level extension sleeve can be attached on level Four extension sleeve, and so on；Level Four extension sleeve It is successively stretched out by extension sleeve slide block limiting plate, sliding block A, guide rail A by big end to small end to level-one extension sleeve；When level Four is stretched Contracting sleeve first drops to limiting length and will be blocked by the lower stopper of Pyatyi extension sleeve, so that three-level extension sleeve, second level are stretched Contracting sleeve, level-one extension sleeve continue successively to decline by gravity；When extension sleeves at different levels drop to limiting length by lower stopper When blocking, polyurethane block plays buffer function；In uphill process, wirerope pulls wirerope to try to stop people from fighting each other, and wirerope is tried to stop people from fighting each other pulling Level-one extension sleeve gos up；It can be contacted with second level extension sleeve upper stopper when level-one extension sleeve gos up to limiting length, thus Second level extension sleeve is driven to go up；Successively by level-one extension sleeve, second level extension sleeve, three-level extension sleeve, level Four telescopic Cylinder gos up to Pyatyi extension sleeve.

The instrument clamper includes light instrument combination, lamp group mounting bracket, gamma camera fixed block, clamper bone Frame and waterproof box；Light instrument combination includes laser range finder, light instrument group mounting blocks, LED, backup camera, ultrasound Wave sensor；Clamper skeleton includes clamper skeleton Q-RING, clamper skeleton square plate, clamper skeleton ring, folder By pressing arc-welding to be fixed on front side of the inner ring of clamper skeleton Q-RING, clamper skeleton ring passes through holder skeleton square plate Pressure arc-welding is fixed on the rear side of clamper skeleton Q-RING；Gamma camera fixed block is fixed on clamper skeleton Q-RING rear portion； Light instrument group mounting blocks are fixed in lamp group mounting bracket, and lamp group mounting bracket is fixed on front side of clamper skeleton Q-RING, Fluted for installing gamma camera on gamma camera fixed block, waterproof box is fixed on clamper skeleton Q-RING rear portion；Lamp Laser range finder, LED, backup camera and ultrasonic sensor, the installation of light instrument group are installed on light instrument group mounting blocks Block, lamp group mounting bracket, clamper skeleton Q-RING, clamper skeleton square plate, clamper skeleton ring and gamma camera The material of fixed block is duralumin 6061-74.

The traction device includes that driving motor, multi-stage speed reducer, cord winder, support base, reel stand and stroke are opened Close A；Cord winder is fixed on reel stand, and reel stand is arranged on support base, transverse shifting, stroke can be opened on support base It closes A to be fixed on support base, and the maximum stroke of reel stand is set, reel stand transverse movement can be made to stop in time；It is multistage Retarder is composed in series by gear reduction unit, worm reducer A and planetary reduction gear, and driving motor includes two direct currents in parallel Servo motor one and motor two, the shaft gear of motor one and the shaft gear of motor two while the input shaft gear with gear reduction unit It is in parallel.

The cord winder includes reel, wirerope, rope clamp, slide block B, guide rail B, synchronous belt shell, ball-screw, spiral shell Mother, nut fixing seat, belt wheel one, synchronous belt and belt wheel two；Ball-screw, nut and nut fixing seat constitute feed screw nut machine Structure, nut are fixed in nut fixing seat, and nut fixing seat is fixed on support base, and ball-screw passes through nut, ball-screw The bearing support on reel stand is leaned at both ends, and belt wheel one is connected by key on reel, and belt wheel two is connected by key in ball wire One end of thick stick, belt wheel one, synchronous belt and belt wheel two constitute synchronous pulley mechanism, the input terminal of planetary reduction gear output shaft and reel Lid connection, the output end cap of reel are connected by key band movable belt pulley one and rotate, and power is transmitted to belt wheel by synchronous belt by belt wheel one Two, belt wheel two, which is equally connected by key, is transmitted to lead screw for power, and leadscrew-nut mechanism and synchronous pulley mechanism cooperate single layer rope rolling Transverse movement；Reel is arranged on reel stand, and rope clamp is provided on reel, and wirerope beginning is clipped on reel by rope clamp, volume Cylinder one end connects planetary reduction gear output shaft, and planetary reduction gear output shaft drives spool turns, carries out folding and unfolding line process；Reel stand On be provided with synchronous belt shell, belt wheel one, synchronous belt and belt wheel two are located at synchronous belt enclosure interior, and slide block B is fixed on reel stand On, guide rail B is fixed on support base, slide block B can the transverse movement on guide rail B；Rope clamp lower end is profiling arc-shaped；Pass through setting The number of teeth of belt wheel one and belt wheel two can realize that ball-screw drives the transverse movement of reel stand cooperation reel rope rolling, so that wirerope Compact is arranged on reel；Reel carries out folding and unfolding line process by receiving the positive and negative rotation of multi-stage speed reducer output shaft, makes simultaneously Ball-screw positive and negative rotation is obtained, so that ball-screw is converted into transverse direction of the slide block B being fixed on reel stand on guide rail B Movement, to realize the transverse movement of reel stand.

The remote control holder includes the joint one rotated horizontally, the joint two of pitching rotation, angular contact bearing, inner wire Cable pipeline and angular encoder；Joint one is connect with joint two by angular contact bearing；Joint one includes one motor of joint, synchronization One driving wheel of belt wheel, driving belt one, one shell of one driven wheel of synchronous pulley, harmonic speed reducer one and joint；One motor of joint It is connected on one shell of joint, is connect with one driving wheel of synchronous pulley by flat key, one driving wheel of synchronous pulley passes through transmission skin Band one is connect with one driven wheel of synchronous pulley, and one driven wheel of synchronous pulley is connect with the rigid gear of harmonic speed reducer one, harmonic wave The flexible gear and two cage connection of joint of retarder one；Joint two includes two motor of joint, two driving wheel of synchronous pulley, transmission Belt two, two shell of two driven wheel of synchronous pulley, harmonic speed reducer two and joint；Two motor of joint is connected in two shell of joint On, it is connect with two driving wheel of synchronous pulley by flat key, two driving wheel of synchronous pulley passes through driving belt two and synchronous pulley two Driven wheel connection, two driven wheel of synchronous pulley are connect with the rigid gear of harmonic speed reducer two, the flexible tooth of harmonic speed reducer two Wheel and two cage connection of joint；Angular encoder is installed on harmonic speed reducer two, passes through the soft of flange and harmonic speed reducer two Property gear housing connection；Angular contact bearing includes angular contact bearing ball, angular contact bearing outer ring and angular contact bearing inner ring；Angle Contact bearing outer ring and one cage connection of joint, angular contact bearing inner ring and two cage connection of joint；Angular contact bearing ball is set It sets between angular contact bearing outer ring and angular contact bearing inner ring；Cable passes through Internal cable pipeline and one motor of joint and joint The connection of two motors.

The remote control holder is changed the outfit fastly by head end machinery quick-release connector, the electrical quick-release connector of head end and lifting device Set interface connection；It is remotely controlled holder and measuring device is carried by the electrical quick-release connector of end-of-arm tooling, or remote control holder passes through end work Have mechanical quick-release connector and instrument clamper is installed, instrument clamper carries measuring device.

The bearing body includes screw-threaded shaft elevator structure, vehicle frame and leveling and driving mechanism, screw-threaded shaft elevator structure and is adjusted Flat and driving mechanism is fixed on vehicle frame；Leveling and driving mechanism include Mecanum wheel, wheel driver, shaft one, silk Thick stick, leveling motor, retarder, wheel supporting frame and shaft two；Wheel driver is mounted on wheel supporting frame, for driving Mecanum wheel rotation；Leveling motor uses absolute value motor, determines whether each wheel lands immediately；Retarder passes through hinge It is fixed on vehicle frame, shaft two is mounted on vehicle frame, and lead screw is connect with wheel supporting frame by shaft one, and lead screw and retarder are logical Flanged joint is crossed, leveling motor is mounted on the flange of retarder；Shaft two, wheel supporting frame, shaft one, lead screw, vehicle frame shape At four-bar mechanism, Mecanum wheel two rotation around the shaft is realized by lead screw, to realize the leveling of car body；Screw-threaded shaft elevator structure Including extension sleeve mounting rack, travel switch B, elevating screw, lead screw fixed frame, worm reducer B and elevating screw motor, stretch Extension sleeve mounting hole is provided on contracting sleeve mount, screw-threaded shaft elevator structure is mounted on vehicle frame, the nut-welding of elevating screw On extension sleeve mounting rack, elevating screw is mounted on lead screw fixed frame, and reducer of turbodrill B and elevating screw are connected by flat key It connects, reducer of turbodrill B is mounted on vehicle frame by flange, and elevating screw motor and reducer of turbodrill B are passed through by flanged joint Elevating screw motor drives worm reducer B, to realize the rotation of elevating screw, drives the lifting of extension sleeve mounting rack； Travel switch B is mounted on vehicle frame, for controlling the high-low limit position of extension sleeve；Control cabinet is mounted on the side plate of vehicle frame, Traction device is mounted on above vehicle frame, and lifting device is mounted on screw-threaded shaft elevator structure.

The control cabinet includes control cabinet, controls the preformed hole on cabinet and is equipped with motion-control module, switch electricity Source, radiator, ups power, interchanger, temperature controller, industrial personal computer, servo-driver, relay and breaker；Breaker is System power supply master switch, manually controls on/off；When control cabinet internal temperature is lower than 0 DEG C, temperature controller Automatically control cabinet is heated, when control cabinet internal temperature is higher than 0 DEG C, stops heating；Switching Power Supply is motion control mould Block, servo-driver and relay provide 24V DC power supply；The input signal interface of motion-control module is Ethernet interface, Realize that data exchange, output signal are sent out by control signal wire to servo-driver by interchanger and industrial personal computer with ethernet line Position command；The output signal of servo-driver is connected with servo motor, and control servo motor completes positioning operation；Radiator is Control cabinet provides cross-ventilation power, and the inner air of control cabinet is allowed to form convection current, enhancing control cabinet and extraneous heat exchange energy Power；Lead to Ethernet/optical fiber connection between interchanger and man-machine interactive system；Whether relay is for controlling servo-driver power supply It connects；Ups power is temporarily system power supply in the case where system accident power-off；Man-machine interactive system will be controlled by interchanger Order is sent to industrial personal computer, and after industrial personal computer receives control command, it is identifiable that control command is converted to motion-control module Instruction, is handed down to motion-control module for instruction by interchanger, motion-control module converts instructions into pulse again, passes through control Signal wire processed sends pulse control signal to servo-driver, and servo-driver is watched according to the pulse control signal control received Motor operating is taken, it is final to realize that the position to traction device, lifting device, remote control holder, bearing body and instrument clamper is controlled System.

The man-machine interactive system is made of display unit, manipulation unit, core processing unit, software unit；Display Unit is connected by USB interface with core processing unit, for the state of displaying scene equipment, the position including each servo motor It sets, the switching information of the range information of ultrasonic sensor, LED light supplement lamp and site environment image information；Manipulation unit passes through USB interface is connect with core processing unit, and operator passes through manipulation unit input control instruction；Core processing unit is as data Processing and computing unit, the input data of processing manipulation unit and analyze the location information of servo motor, ultrasonic sensor Range information；Whether the operating status of software unit field device for rendering, including field device have whether electricity, equipment are in Working condition, each shaft position information, sensing data；The input instruction for manipulating unit includes that equipment advances, retreats, turning left, is right Turn, up and down instruction；After man-machine interactive system starting, operator opens software unit, and operator passes through manipulation unit input Control command, control traction device, lifting device, remote control holder, bearing body and the operation of instrument clamper.

It is obtained by the present invention to have the beneficial effect that

The present invention is provided simultaneously with implementation monitoring, live visual pattern acquisition etc. on the basis of having jacking system function Function, and complete the task of the long-range control under complicated environmental condition, data transmission.

Detailed description of the invention

Fig. 1 is general structure schematic diagram of the invention；

Fig. 2 is the disconnection cross-sectional view of lifting device of the present invention；

Fig. 3 is the partial enlarged view of lifting device slipper of the present invention；

Fig. 4 be lifting device of the invention extension sleeve and guide rail, sliding block, extension sleeve slide block limiting plate installation side Formula schematic diagram；

Fig. 5 is the structural schematic diagram of instrument clamper of the present invention；

Fig. 6 is instrument clamper lighting meter device group mounting blocks schematic diagram of the present invention；

Fig. 7 is the overall construction drawing of traction device of the present invention；

Fig. 8 is the concrete structure diagram of traction device of the present invention；

Fig. 9 is the cord winder cross-sectional view of traction device of the present invention；

Figure 10 is the motor and Reducer connection figure of traction device of the present invention；

Figure 11 is the fixed schematic diagram of wirerope of traction device of the present invention；

Figure 12 is the overall construction drawing of present invention remote control holder；

Figure 13 is present invention remote control holder internal structure front view；

Figure 14 is present invention remote control holder internal structure left view；

Figure 15 is the structural schematic diagram of bearing body of the present invention；

Figure 16 is leveling and the driving mechanism schematic diagram of bearing body of the present invention；

Figure 17 is the screw-threaded shaft elevator structure schematic diagram of bearing body of the present invention；

Figure 18 is the schematic diagram of internal structure of control cabinet of the present invention；

Figure 19 is the composition schematic diagram of control structure of the present invention；

In figure: 1, traction device；2, lifting device；3, control cabinet；4, it is remotely controlled holder；5, bearing body；6, instrument clamps Device；7, stay-supported encoder；8, encoder switching wheel；9, leading block；10, Pyatyi extension sleeve upper stopper；11, level Four is flexible Sleeve upper stopper；12, three-level extension sleeve upper stopper；13, second level extension sleeve upper stopper；14, steel cable clamp；15, steel wire Rope is tried to stop people from fighting each other；16, steel cord ends rope clamp；17, Pyatyi extension sleeve；18, level Four extension sleeve；19, three-level extension sleeve；20, Second level extension sleeve；21, level-one extension sleeve；22, extension sleeve slide block limiting plate；23, polyurethane block；24, lower stopper； 25, fast replacing device interface；26, guide rail A；27, sliding block A；28, laser range finder；29, light instrument group mounting blocks；30,LED； 31, backup camera；32, ultrasonic sensor；33, lamp group mounting bracket；34, clamper skeleton Q-RING；35, clamper bone Frame square plate；36, clamper skeleton ring；37, gamma camera fixed block；38, waterproof box；39, driving motor；40, more Grade retarder；41, cord winder；42, support base；43, reel stand；44, travel switch A；45, gear reduction unit；46, worm gear subtracts Fast device A；47, planetary reduction gear；48, reel；49, wirerope；50, rope clamp；51, slide block B；52, guide rail B；53, synchronous belt shell Body；54, ball-screw；55, nut；56, nut fixing seat；57, planetary reduction gear output shaft；58, belt wheel one；59, synchronous belt； 60, belt wheel two；61, the shaft gear of motor one；62, the input shaft gear of gear reduction unit；63, the shaft gear of motor two；64, first Terminal tool quick-release connector；65, one motor of joint；66, one driving wheel of synchronous pulley；67, one driven wheel of synchronous pulley；68, harmonic wave Retarder one；69, Internal cable pipeline；70, two shell of joint；71, end-of-arm tooling machinery quick-release connector；72, two motor of joint； 73, angular contact bearing ball；74, driving belt one；75, one shell of joint；76, the electrical quick-release connector of head end；77, angular contact axis Bearing outer-ring；78, angular contact bearing inner ring；79, two driving wheel of synchronous pulley；80, driving belt two；81, end-of-arm tooling is electrically fast Changing-over head；82, two driven wheel of synchronous pulley；83, harmonic speed reducer two；84, angular encoder；85, screw-threaded shaft elevator structure；86, Vehicle frame；87, leveling and driving mechanism；88, Mecanum wheel；89, wheel driver；90, shaft one；91, lead screw；92, it adjusts Flat telegram machine；93, retarder；94, wheel supporting frame；95, shaft two；96, extension sleeve mounting hole；97, extension sleeve mounting rack； 98, travel switch B；99, elevating screw；100, lead screw fixed frame；101, worm reducer B；102, elevating screw motor；103, Motion-control module；104, Switching Power Supply；105, radiator；106, ups power；107, interchanger；108, temperature controller； 109, industrial personal computer；110, servo-driver；111, relay；112, breaker；113, cabinet is controlled；114, human-computer interaction system System；115, display unit；116, unit is manipulated；117, core processing unit；118, software unit.

Specific embodiment

The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.

As shown in Figure 1, high radiation underground space source item investigation robot system of the present invention includes traction device 1, rises Falling unit 2, control cabinet 3, remote control holder 4, bearing body 5, instrument clamper 6 and man-machine interactive system；Control cabinet 3 passes through screw It is mounted on 86 side plate of vehicle frame of bearing body 5, traction device 1 is mounted on 86 top of vehicle frame of bearing body 5, lifting by screw Device 2 is mounted on the screw-threaded shaft elevator structure 85 of bearing body 5 by screw, and remote control holder 4 is mounted on lifting dress by screw It sets on 2 fast replacing device interface 25, instrument clamper 6 passes through the mechanical fast changing-over of end-of-arm tooling that screw is mounted on remote control holder 4 On first 71, man-machine interactive system is for the control said mechanism work of distal end remote operating.

As shown in Figures 2 to 4, lifting device 2 includes stay-supported encoder 7, encoder switching wheel 8, leading block 9, five Grade extension sleeve upper stopper 10, three-level extension sleeve upper stopper 12, is kept off on second level extension sleeve at level Four extension sleeve upper stopper 11 Block 13, steel cable clamp 14, wirerope are tried to stop people from fighting each other 15, steel cord ends rope clamp 16, Pyatyi extension sleeve 17, level Four extension sleeve 18, three-level extension sleeve 19, second level extension sleeve 20, level-one extension sleeve 21, extension sleeve slide block limiting plate 22, polyurethane gear Block 23, lower stopper 24, fast replacing device interface 25, guide rail A26, sliding block A27；

Level-one extension sleeve 21, second level extension sleeve 20, three-level extension sleeve 19, level Four extension sleeve 18 and Pyatyi are flexible Sleeve 17 is sequentially sleeved in together from inside to outside, can move up and down between sleeves at different levels；Pyatyi extension sleeve 17, level Four telescopic Cylinder 18, three-level extension sleeve 19 and second level extension sleeve 20 end be respectively provided with that there are two lower stoppers 24；Pyatyi extension sleeve 17, The upper end of level Four extension sleeve 18, three-level extension sleeve 19 and second level extension sleeve 20 is respectively arranged on Pyatyi extension sleeve and keeps off Block 10, level Four extension sleeve upper stopper 11, three-level extension sleeve upper stopper 12 and second level extension sleeve upper stopper 13；

Extension sleeve slide block limiting plate 22,22 lower section of extension sleeve slide block limiting plate are installed on the outside of level-one extension sleeve 21 Polyurethane block 23 is installed, sliding block A27 is mounted in extension sleeve slide block limiting plate 22, and sliding block A27 connects with guide rail A26 and makes Extension sleeves at different levels opposite can slide, and guide rail A26 is riveted on 20 inside of second level extension sleeve by bolt；Second level extension sleeve 20 Between three-level extension sleeve 19, between three-level extension sleeve 19 and level Four extension sleeve 18, level Four extension sleeve 18 and Pyatyi It is connected by extension sleeve slide block limiting plate 22, polyurethane block 23, sliding block A27 with guide rail A26 between extension sleeve 17；Three Two are provided between grade extension sleeve 19 and level Four extension sleeve 18, between level Four extension sleeve 18 and Pyatyi extension sleeve 17 A sliding block A27；Between level-one extension sleeve 21 and second level extension sleeve 20, second level extension sleeve 20 and three-level extension sleeve 19 it Between be provided with a sliding block A27；

Stay-supported encoder 7 is mounted on 17 upper end of Pyatyi extension sleeve, encoder switching wheel 8 and the fixed peace of leading block 9 Mounted in 17 upper end of Pyatyi extension sleeve；Steel cable clamp 14 is mounted on 16 upper end of steel cord ends rope clamp, prevents looseness of steel wire ropes； Steel cord ends rope clamp 16 is mounted on wirerope and tries to stop people from fighting each other on 15, and wirerope, which is tried to stop people from fighting each other, 15 is mounted on the most upper of level-one extension sleeve 21 End, traction device pull level-one extension sleeve 21 by wirerope；The end of level-one extension sleeve 21 is equipped with fast replacing device and connects Mouth 25；

Wirerope one end provides pulling force by traction mechanism, and the other end sequentially passes through steel cable clamp 14, wirerope is tried to stop people from fighting each other 15 and steel cord ends rope clamp 16.The mode of the movement of lifting device is that straight down, and have to extension sleeve very high straight Dimension requirement, therefore decline is realized using the gravity of extension sleeve itself.

During decline, since level-one extension sleeve 21 to 18 gravity of level Four extension sleeve can be attached to Pyatyi extension sleeve On 17, the gravity of level-one extension sleeve 21 to three-level extension sleeve 19 can be attached on level Four extension sleeve 18, and so on.Four Grade extension sleeve 18 to level-one extension sleeve 21 by extension sleeve slide block limiting plate 22, sliding block A27, guide rail A26 by big end to Small end successively stretches out.It will be kept off by the lower stopper 24 of Pyatyi extension sleeve 17 when level Four extension sleeve 18 first drops to limiting length Firmly, so that three-level extension sleeve 19, second level extension sleeve 20, level-one extension sleeve 21 continue successively to decline by gravity.When each When grade extension sleeve drops to limiting length and blocked by lower stopper 24, polyurethane block 23 plays buffer function.

In uphill process, wirerope pulls wirerope to try to stop people from fighting each other 15, and wirerope is tried to stop people from fighting each other the rise of 15 pulling level-one extension sleeves 21. It can be contacted with second level extension sleeve upper stopper 13 when level-one extension sleeve 21 gos up to limiting length, to drive second level telescopic Cylinder 20 gos up.Successively level-one extension sleeve 21, second level extension sleeve 20, three-level extension sleeve 19, level Four extension sleeve 18 are returned Rise to Pyatyi extension sleeve 17.

As shown in Figure 5 to Figure 6, instrument clamper 6 is solid including light instrument combination, lamp group mounting bracket 33, gamma camera Determine block 37, clamper skeleton and waterproof box 38；Light instrument combination includes laser range finder 28, light instrument group mounting blocks 29, LED30, backup camera 31, ultrasonic sensor 32；Clamper skeleton includes clamper skeleton Q-RING 34, clamper Skeleton square plate 35, clamper skeleton ring 36, clamper skeleton square plate 35 is by pressing arc-welding to be fixed on clamper skeleton On front side of the inner ring of Q-RING 34, after clamper skeleton ring 36 is by pressing arc-welding to be fixed on clamper skeleton Q-RING 34 Side；Gamma camera fixed block 37 is fixed on 34 rear portion of clamper skeleton Q-RING by hexagon socket cap head screw.Light instrument Group mounting blocks 29 are fixed by screws in lamp group mounting bracket 33.Lamp group mounting bracket 33 is fixed by screws in clamper bone It is fluted for installing gamma camera on gamma camera fixed block 37 on front side of frame Q-RING 34.Waterproof box 38 is solid by bolt It is scheduled on 34 rear portion of clamper skeleton Q-RING.

In order to improve clamper for indoor detection range and observation scope, it is equipped on light instrument group mounting blocks 29 Laser range finder 28, LED30, backup camera 31, ultrasonic sensor 32 can completely see indoor concrete condition It surveys.In order to prevent burst accident, indoor situations can be smoothly detected while light failure, include super in light instrument combination Sonic sensor 32.The heat treatment method of lamp group mounting bracket 33 is anodic oxidation.The heat treatment side of gamma camera fixed block 37 Method is white oxide.Light instrument group mounting blocks 29, lamp group mounting bracket 33, clamper skeleton Q-RING 34, clamper skeleton The material of square plate 35, clamper skeleton ring 36 and gamma camera fixed block 37 is duralumin 6061-74.

Tighten the hexagon socket cap head screw of the counter sink of clamper skeleton square plate 35 first to clamp corresponding nucleic Survey meter.Instrument clamper 6 is connected with remote control holder 4, using lifting device 2 by 6 feed arrangement room of instrument clamper, Before being measured by circuit control ultrasonic sensor 32 inside waterproof box 38, the upward barrier of upper and lower to clamper Distance restarts LED30 and provides illumination, finally sends the indoor concrete condition of equipment to external people using backup camera 31 Member and ultrasonic sensor 32 can light fail when, effective guarantee equipment does not collide when exiting canyon.

As shown in figs. 7 to 11, traction device 1 includes driving motor 39, multi-stage speed reducer 40, cord winder 41, support Seat 42, reel stand 43 and travel switch A44；Cord winder 41 is fixed on reel stand 43, and reel stand 43 is arranged in support base 42 On, it transverse shifting, travel switch A44 can be fixed on support base 42 on support base 42, and reel stand 43 is set most At big stroke, 43 transverse movement of reel stand can be made to stop in time.

Multi-stage speed reducer 40 is composed in series by gear reduction unit 45, worm reducer A46 and planetary reduction gear 47, driving electricity Machine 39 includes two DC servo motors one and motor two in parallel, and the shaft gear 61 of motor one and the shaft gear 63 of motor two are same When it is in parallel with the input shaft gear 62 of gear reduction unit.

Cord winder 41 includes reel 48, wirerope 49, rope clamp 50, slide block B 51, guide rail B52, synchronous belt shell 53, rolling Ballscrew 54, nut 55, nut fixing seat 56, belt wheel 1, synchronous belt 59 and belt wheel 2 60；Ball-screw 54,55 and of nut Nut fixing seat 56 constitutes leadscrew-nut mechanism, and nut 55 is fixed in nut fixing seat 56, and nut fixing seat 56 is fixed on branch It supports on seat 42, ball-screw 54 passes through nut 55, and the bearing support on reel stand 43, belt wheel 1 are leaned in 54 both ends of ball-screw It is connected by key on reel 48, belt wheel 2 60 is connected by key in one end of ball-screw 54, belt wheel 1,59 and of synchronous belt Belt wheel 2 60 constitutes synchronous pulley mechanism, and planetary reduction gear output shaft 57 is connect by bolt with the input end cap of reel 48, rolls up The output end cap of cylinder 48 is connected by key band movable belt pulley 1 and rotates, and power is transmitted to belt wheel two by synchronous belt 59 by belt wheel 1 60, belt wheel 2 60, which is equally connected by key, is transmitted to lead screw 54 for power, and leadscrew-nut mechanism and synchronous pulley mechanism cooperate single layer Rope rolling transverse movement.

Reel 48 is arranged on reel stand 43, and rope clamp 50 is provided on reel 48, and 49 beginning of wirerope is pressed from both sides by rope clamp 50 On reel 48,48 one end of reel connects planetary reduction gear output shaft 57, and planetary reduction gear output shaft 57 is rotated with movable reel 48, Carry out folding and unfolding line process；Synchronous belt shell 53 is provided on reel stand 43, belt wheel 1, synchronous belt 59 and belt wheel 2 60 are located at same Inside step band shell 53, slide block B 51 is fixed on reel stand 43, and guide rail B52 is fixed on support base 42, and slide block B 51 can led Transverse movement on rail B52.

50 lower end of rope clamp is profiling arc-shaped, and it is non-slip to guarantee to block wirerope 49, is provided on rope clamp 50 and reel 48 Threaded hole plays fastening steel wire rope 49.Rope clamp 50 blocks two strand steel wire ropes 49 simultaneously, on 48 1 circumferencial directions of reel Equipped with 5 rope clamps 50, to reinforce reliability.

It can realize that ball-screw 54 drives reel stand 43 to cooperate reel by the number of teeth of setting belt wheel 1 and belt wheel 2 60 The transverse movement of 48 rope rollings is arranged on reel 48 so that wirerope 49 is compact.Reel 48 is by receiving multi-stage speed reducer 40 The positive and negative rotation of output shaft carries out folding and unfolding line process, while making 54 positive and negative rotation of ball-screw, so that the rotation of ball-screw 54 turns Transverse movement of the slide block B 51 being fixed on reel stand 43 on guide rail B52 is turned to, to realize the lateral fortune of reel stand 43 It is dynamic.

As shown in Figure 12 to Figure 14, remote control holder 4 includes the joint one rotated horizontally, the joint two of pitching rotation, corner connection Contact bearing, Internal cable pipeline 69 and angular encoder 84；Joint one is connect with joint two by angular contact bearing；

Joint one is driven including one motor 65 of joint, one driving wheel 66 of synchronous pulley, driving belt 1, synchronous pulley one Take turns 67, one shell 75 of harmonic speed reducer 1 and joint；One motor 65 of joint is power source, is connected on one shell 75 of joint, Be attached with one driving wheel 66 of synchronous pulley by flat key, one driving wheel 67 of synchronous pulley by driving belt 1 with it is synchronous The connection of one driven wheel 67 of belt wheel, one driven wheel 67 of synchronous pulley and the rigid gear of harmonic speed reducer 1 are connected by screw It connects, flexible gear and two shell 70 of joint of harmonic speed reducer 1 are attached also by screw；Power passes through synchronous pulley One driving wheel 66, driving belt 1, one driven wheel 67 of synchronous pulley are transmitted to the rigid gear of harmonic speed reducer 1, harmonic wave The flexible gear of retarder 1 is fixed together with two shell 70 of joint, using the biggish reduction ratio of harmonic speed reducer 1, It can make joint one, i.e. two shell 70 of joint is slowly rotated horizontally relative to one shell 75 of joint.

Joint two is driven including two motor 72 of joint, two driving wheel 79 of synchronous pulley, driving belt 2 80, synchronous pulley two Take turns 82, two shell 70 of harmonic speed reducer 2 83 and joint；Two motor 72 of joint is power source, is connected on two shell 70 of joint, Be attached with two driving wheel 79 of synchronous pulley by flat key, two driving wheel 79 of synchronous pulley by driving belt 2 80 with it is synchronous The connection of two driven wheel 82 of belt wheel, two driven wheel 82 of synchronous pulley and the rigid gear of harmonic speed reducer 2 83 are connected by screw It connects, flexible gear and two shell 70 of joint of harmonic speed reducer 2 83 are attached also by screw.Power passes through synchronous pulley Two driving wheels 79, driving belt 2 80, two driven wheel 82 of synchronous pulley are transmitted to the rigid gear of harmonic speed reducer 2 83, harmonic wave The flexible gear of retarder 2 83 is fixed together with two shell 70 of joint, using the biggish reduction ratio of harmonic speed reducer 2 83, It can make joint two, i.e., slowly pitching rotates quick-release connector relative to two shell 70 of joint.It is equipped on harmonic speed reducer 2 83 Angular encoder 84 is connect by flange with the flexible gear shell of harmonic speed reducer 2 83.Pulse control joint two can be passed through Then, it can be achieved that speed parameterisable, i.e., the velocity of rotation of motor 72 adjusts the corner in end pitching joint according to transmission ratio Rate of pitch is adjustable.

Angular contact bearing includes angular contact bearing ball 73, angular contact bearing outer ring 77 and angular contact bearing inner ring 78；Angle Contact bearing outer ring 77 is connected by screw to one shell 75 of joint, and angular contact bearing inner ring 78 and two shell 70 of joint pass through spiral shell Nail connection；Angular contact bearing ball 73 is arranged between angular contact bearing outer ring 77 and angular contact bearing inner ring 78.

Cable is connect by Internal cable pipeline 69 with one motor 65 of joint and two motor 72 of joint, due to Internal cable pipe Road 69 and the rotation in joint one are relatively independent, so can realize that one 360 degree of joint is rotated without dead angle.When joint one rotates horizontally, It is used as power source by one motor 65 of joint, passes through one driving wheel 66 of synchronous pulley, driving belt 1, one driven wheel 67 of synchronous pulley Power is transmitted, is realized and is slowed down by harmonic speed reducer 1.When two pitching of joint rotates, it is used as power source by two motor 72 of joint, Power is transmitted by two driving wheel 79 of synchronous pulley, driving belt 2 80, two driven wheel 82 of synchronous pulley, passes through harmonic speed reducer 2 83 realize deceleration.Due to the biggish reduction ratio of harmonic speed reducer and lesser volume, remote control holder 4 can be met and carry all kinds of instrument Work to device steady ordered.

Traction device 1 is mounted on 86 top of vehicle frame of bearing body 5 by screw, and lifting device 2 is mounted on by screw On the screw lift structure 85 of bearing body 5, remote control 4 head end machinery quick-release connector 64 of holder, the electrical quick-release connector 76 of head end connect The fast replacing device interface 25 of lifting device 2 is connect, the electrical quick-release connector 81 of end-of-arm tooling directly carries measuring device or passes through instrument Clamper carries measuring device, is sent to measurement point position by lifting device 2, and then operation remote control holder 4, is adjusted to visual angle to be measured Orientation, angle, the long-range detector that controls starts to work, and carries out measurement, the investigation of equipment pipe, the equipment that holder carries is bundle Tie up formula instrument.End-of-arm tooling machinery quick-release connector 71 and the electrical quick-release connector 81 of end-of-arm tooling can be with cluster instrument such as γ phases Machine, laser range finder, radiation resistance camera probe etc. quickly connect, for determining space layout in canyon, hotspot's distribution, remaining Situations such as Radionuclide inventory.

As shown in figure 15, bearing body 5 includes screw-threaded shaft elevator structure 85, vehicle frame 86 and leveling and driving mechanism 87；Lead screw Elevating mechanism 85 and leveling and driving mechanism 87 are fixed on vehicle frame 86.

As shown in figure 16, leveling and driving mechanism 87 include Mecanum wheel 88, wheel driver 89, shaft 1, Lead screw 91, leveling motor 92, retarder 93, wheel supporting frame 94, shaft 2 95；Wheel driver 89 is mounted on wheel supporting On axis hole on frame 94, for driving Mecanum wheel 88 to rotate, the movement of car body any direction is realized.Leveling motor 92 uses Absolute value motor can determine immediately whether each wheel lands.Retarder 93 is fixed on the threaded hole on vehicle frame 86 by hinge, Shaft 2 95 is mounted on the axis hole on vehicle frame 86.Lead screw 91 and wheel supporting frame 94 connects by shaft 1, lead screw 91 and Retarder 93 is mounted on the flange of retarder 93 by flanged joint, leveling motor 92.Shaft 2 95, wheel supporting frame 94, Shaft 1, lead screw 91, vehicle frame 86 form a four-bar mechanism, realize 2 95 turns around the shaft of Mecanum wheel 88 by lead screw 91 It is dynamic, to realize the leveling of car body.

As shown in figure 17, screw-threaded shaft elevator structure 85 include extension sleeve mounting rack 97, travel switch B98, elevating screw 99, Lead screw fixed frame 100, worm reducer B101, elevating screw motor 102 are provided with extension sleeve peace on extension sleeve mounting rack 97 Hole 96 is filled, screw lift structure 85 is mounted on vehicle frame 86 by screw, and the nut of elevating screw 99, which is fixed by welding in, to be stretched On contracting sleeve mount 97, elevating screw 99 is mounted on lead screw fixed frame 100, and reducer of turbodrill B101 and elevating screw 99 are logical Flat key connection is crossed, reducer of turbodrill B101 is mounted on vehicle frame 86 by flange, elevating screw motor 102 and reducer of turbodrill B101 drives worm reducer B101 by flanged joint, by elevating screw motor 102, to realize the rotation of elevating screw 99 Turn, drives the lifting of extension sleeve mounting rack 97.Travel switch B98 is mounted on vehicle frame 86 by screw, flexible for controlling The high-low limit position of sleeve.Extension sleeve integral elevating on screw-threaded shaft elevator structure 85, to facilitate the fast of barrel end tooling Speed replacement and the purpose for increasing system lifting distance.

As shown in figure 18, control cabinet 3 includes control cabinet 113, and the preformed hole controlled on cabinet 113 installs fortune by screw Dynamic control module 103, Switching Power Supply 104, radiator 105, ups power 106, interchanger 107, temperature controller 108, industrial personal computer 109, servo-driver 110, relay 111, breaker 112.Breaker 112 is system power supply master switch, manually Control on/off.The function of temperature controller 108 is carried out automatically to control cabinet when control cabinet internal temperature is lower than 0 DEG C Heating stops heating when control cabinet internal temperature is higher than 0 DEG C.Switching Power Supply 104 is motion-control module 103, servo-drive Device 110 and relay 111 provide 24V DC power supply.The input signal interface of motion-control module 103 is Ethernet interface, is used Ethernet line realizes data exchange by interchanger 107 and industrial personal computer 109；Output signal passes through control signal wire to servo-drive Device 110 sends out position command.The output signal of servo-driver 110 is connected with servo motor, and control servo motor completes positional operand Make.Radiator 105 is that control cabinet 113 provides cross-ventilation power, and the inner air of control cabinet 113 is allowed to form convection current, enhancing control Case 113 processed and extraneous heat-exchange capacity.It is connected between industrial personal computer 109 and interchanger 107 by Ethernet.Interchanger 107 with Lead to Ethernet/optical fiber between man-machine interactive system to be attached.Relay 111 is mainly used for controlling 110 power supply of servo-driver Whether connect.Ups power 106 can temporarily be system power supply in the case where system accident power-off, realize power-off protection, guarantee behaviour Home can be run to for equipment by making personnel.When system works, man-machine interactive system is sent out control command by interchanger 107 It send to industrial personal computer 109, after industrial personal computer 109 receives control command, control command, which is converted to motion-control module 103, be can recognize Instruction, instruction is handed down to by motion-control module 103 by interchanger 107, motion-control module 103 converts instructions into again Pulse gives servo-driver 110 to send pulse control signal by control signal wire, and servo-driver 110 is according to receiving Pulse control signal controls servo motor operating, final to realize to traction device 1, lifting device 2, remote control holder 4, bearing body 5, the position control of instrument clamper 6 etc..

As shown in figure 19, man-machine interactive system 114 by display unit 115, manipulation unit 116, core processing unit 117, Software unit 118 forms.Display unit 115 is connected by USB interface with core processing unit 117, and displaying scene is mainly used for The state of equipment, the range information of position, ultrasonic sensor including each servo motor, LED light supplement lamp switching information, Site environment image information.Manipulation unit 116 is connect by USB interface with core processing unit 117, and operator is single by manipulation First 116 input controls instruction.Core processing unit 117 is used as data processing and computing unit, the input of processing manipulation unit 116 Data and the range information for analyzing the location information of servo motor, ultrasonic sensor.Software unit 118 is mainly used for presenting existing The operating status of field device is simultaneously converted into the identifiable instruction of industrial personal computer 109 for the control instruction that unit 116 inputs is manipulated, scene Equipment running status includes whether field device has electric, whether equipment is in running order, each shaft position information, sensing data Deng；The input instruction for manipulating unit 116 includes the instruction such as equipment advance, retrogressing, left-hand rotation, right-hand rotation, up and down.Human-computer interaction After system 114 starts, operator opens software unit 118, and after software unit 118 starts, operator is defeated by manipulation unit 116 Enter control command, the equipment operations such as control traction device 1, lifting device 2, remote control holder 4, bearing body 5, instrument clamper 6. To realize in long-distance remote control lifting device it is man-machine between control information assign, control spot sensor monitoring information show and The functions such as data analysis.Display unit 115 is distinguished with three screen of left, center, right locating for the parameters of display system itself, system Image data, real-time measuring data and the other data informations of environment；It manipulates unit 116 and realizes system with singlehanded manipulation rocking bar Operations；Core processing unit 117 carries out the data processing of system using high-performance processor；Software unit 118 combines Unit 116 and display unit 115 are manipulated, the different information contents is shown by the way of three screens.

Claims (10)

1. a kind of high radiation underground space source item investigates robot system, it is characterised in that: including traction device (1), lifting dress Set (2), control cabinet (3), remote control holder (4), bearing body (5), instrument clamper (6) and man-machine interactive system；Traction device (1), lifting device (2) and control cabinet (3) are mounted on bearing body (5), and remote control holder (4) is mounted on lifting device (2), Instrument clamper (6) is mounted in remote control holder (4), and man-machine interactive system controls traction device (1), lifting device (2), remote control Holder (4), bearing body (5) and instrument clamper (6) operation.

2. high radiation underground space source item according to claim 1 investigates robot system, it is characterised in that: the liter Falling unit (2) includes stay-supported encoder (7), encoder switching wheel (8), leading block (9), Pyatyi extension sleeve upper stopper (10), level Four extension sleeve upper stopper (11), three-level extension sleeve upper stopper (12), second level extension sleeve upper stopper (13), steel Cord rope clamp (14), wirerope try to stop people from fighting each other (15), steel cord ends rope clamp (16), Pyatyi extension sleeve (17), level Four extension sleeve (18), three-level extension sleeve (19), second level extension sleeve (20), level-one extension sleeve (21), extension sleeve slide block limiting plate (22), polyurethane block (23), lower stopper (24), fast replacing device interface (25), guide rail A (26) and sliding block A (27)；Level-one is flexible Sleeve (21), second level extension sleeve (20), three-level extension sleeve (19), level Four extension sleeve (18) and Pyatyi extension sleeve (17) It is sequentially sleeved in together, can move up and down between sleeves at different levels from inside to outside；Pyatyi extension sleeve (17), level Four extension sleeve (18), the end of three-level extension sleeve (19) and second level extension sleeve (20) is respectively provided with there are two lower stopper (24)；Pyatyi is flexible Sleeve (17), level Four extension sleeve (18), three-level extension sleeve (19) and second level extension sleeve (20) upper end be respectively arranged with Pyatyi extension sleeve upper stopper (10), level Four extension sleeve upper stopper (11), three-level extension sleeve upper stopper (12) and second level are stretched Contracting sleeve upper stopper (13)；It is equipped with extension sleeve slide block limiting plate (22) on the outside of level-one extension sleeve (21), extension sleeve is sliding It being equipped with polyurethane block (23) below block limit plate (22), sliding block A (27) is mounted on extension sleeve slide block limiting plate (22), Sliding block A (27) connects with guide rail A (26) enables extension sleeves at different levels are opposite to slide, and guide rail A (26) is riveted on second level extension sleeve (20) inside；Between second level extension sleeve (20) and three-level extension sleeve (19), three-level extension sleeve (19) and level Four telescopic Between cylinder (18), pass through extension sleeve slide block limiting plate between level Four extension sleeve (18) and Pyatyi extension sleeve (17) (22), polyurethane block (23), sliding block A (27) and guide rail A (26) connection；Three-level extension sleeve (19) and level Four extension sleeve (18) there are two being respectively provided between, between level Four extension sleeve (18) and Pyatyi extension sleeve (17) sliding block A (27)；Level-one is flexible It is provided between sleeve (21) and second level extension sleeve (20), between second level extension sleeve (20) and three-level extension sleeve (19) One sliding block A (27)；Stay-supported encoder (7) is mounted on Pyatyi extension sleeve (17) upper end, encoder switching wheel (8) and guiding Pulley (9) is fixedly mounted on Pyatyi extension sleeve (17) upper end；Steel cable clamp (14) is mounted on steel cord ends rope clamp (16) Upper end；Steel cord ends rope clamp (16) is mounted on wirerope and tries to stop people from fighting each other on (15), wirerope try to stop people from fighting each other (15) be mounted on level-one telescopic The top of cylinder (21)；The end of level-one extension sleeve (21) is equipped with fast replacing device interface (25)；Wirerope one end is by leading Draw mechanism and pulling force, the other end sequentially passes through steel cable clamp (14), wirerope is tried to stop people from fighting each other (15) and steel cord ends rope clamp are provided (16)；

During decline, since level-one extension sleeve (21) to level Four extension sleeve (18) gravity can be attached to Pyatyi extension sleeve (17) on, the gravity of level-one extension sleeve (21) to three-level extension sleeve (19) can be attached on level Four extension sleeve (18), with This analogizes；Level Four extension sleeve (18) to level-one extension sleeve (21) pass through extension sleeve slide block limiting plate (22), sliding block A (27), guide rail A (26) is successively stretched out by big end to small end；When level Four extension sleeve (18) first drops to limiting length will be by five The lower stopper (24) of grade extension sleeve (17) is blocked, so that three-level extension sleeve (19), second level extension sleeve (20), level-one are flexible Sleeve (21) continues successively to decline by gravity；When extension sleeves at different levels, which drop to limiting length, to be blocked by lower stopper (24), Polyurethane block (23) plays buffer function；In uphill process, wirerope pulls wirerope to try to stop people from fighting each other (15), and wirerope tries to stop people from fighting each other (15) Level-one extension sleeve (21) are pulled to go up；When level-one extension sleeve (21) go up to limiting length can with kept off on second level extension sleeve Block (13) contact, so that second level extension sleeve (20) be driven to go up；Successively by level-one extension sleeve (21), second level extension sleeve (20), three-level extension sleeve (19), level Four extension sleeve (18) go up to Pyatyi extension sleeve (17).

3. high radiation underground space source item according to claim 1 investigates robot system, it is characterised in that: the instrument Timing collet (6) include light instrument combination, lamp group mounting bracket (33), gamma camera fixed block (37), clamper skeleton and Waterproof box (38)；Light instrument combination includes laser range finder (28), light instrument group mounting blocks (29), LED (30), reversing Camera (31), ultrasonic sensor (32)；Clamper skeleton includes that clamper skeleton Q-RING (34), clamper skeleton are rectangular Plate (35), clamper skeleton ring (36), clamper skeleton square plate (35) is by pressing arc-welding to be fixed on clamper skeleton side On front side of the inner ring of shape ring (34), clamper skeleton ring (36) is by pressing arc-welding to be fixed on clamper skeleton Q-RING (34) Rear side；Gamma camera fixed block (37) is fixed on clamper skeleton Q-RING (34) rear portion；Light instrument group mounting blocks (29) are solid It is scheduled on lamp group mounting bracket (33), lamp group mounting bracket (33) is fixed on front side of clamper skeleton Q-RING (34), gamma-phase It is fluted for installing gamma camera on machine fixed block (37), after waterproof box (38) is fixed on clamper skeleton Q-RING (34) Portion；Laser range finder (28), LED (30), backup camera (31) and ultrasonic wave are installed on light instrument group mounting blocks (29) Sensor (32), light instrument group mounting blocks (29), lamp group mounting bracket (33), clamper skeleton Q-RING (34), clamper The material of skeleton square plate (35), clamper skeleton ring (36) and gamma camera fixed block (37) is duralumin 6061-74.

4. high radiation underground space source item according to claim 1 investigates robot system, it is characterised in that: described leads Leading-in device (1) include driving motor (39), multi-stage speed reducer (40), cord winder (41), support base (42), reel stand (43) and Travel switch A (44)；Cord winder (41) is fixed on reel stand (43), and reel stand (43) is arranged on support base (42), can With the transverse shifting on support base (42), travel switch A (44) is fixed on support base (42), and is arranged in reel stand (43) Maximum stroke can be such that reel stand (43) transverse movement stops in time；Multi-stage speed reducer (40) is by gear reduction unit (45), worm gear Retarder A (46) and planetary reduction gear (47) are composed in series, and driving motor (39) includes two DC servo motors one in parallel With motor two, the shaft gear (63) of the shaft gear (61) of motor one and motor two input shaft gear with gear reduction unit simultaneously (62) in parallel.

5. high radiation underground space source item according to claim 4 investigates robot system, it is characterised in that: the volume Rope device (41) includes reel (48), wirerope (49), rope clamp (50), slide block B (51), guide rail B (52), synchronous belt shell (53), ball-screw (54), nut (55), nut fixing seat (56), belt wheel one (58), synchronous belt (59) and belt wheel two (60)； Ball-screw (54), nut (55) and nut fixing seat (56) constitute leadscrew-nut mechanism, and nut (55) is fixed on nut and fixes On seat (56), nut fixing seat (56) is fixed on support base (42), and ball-screw (54) passes through nut (55), ball-screw (54) bearing support on reel stand (43) is leaned at both ends, and belt wheel one (58) is connected by key on reel (48), belt wheel two (60) it is connected by key one end in ball-screw (54), belt wheel one (58), synchronous belt (59) are synchronous with belt wheel two (60) composition Belt wheel mechanism, planetary reduction gear output shaft (57) are connect with the input end cap of reel (48), and the output end cap of reel (48) passes through Key connection band movable belt pulley one (58) rotates, and power is transmitted to belt wheel two (60), belt wheel two by synchronous belt (59) by belt wheel one (58) (60) it is equally connected by key and is transmitted to power lead screw (54), leadscrew-nut mechanism and synchronous pulley mechanism cooperation single layer rope rolling are horizontal To movement；Reel (48) is arranged on reel stand (43), is provided on reel (48) rope clamp (50), wirerope (49) beginning passes through Rope clamp (50) is clipped on reel (48), and reel (48) one end connects planetary reduction gear output shaft (57), planetary reduction gear output shaft (57) band movable reel (48) rotates, and carries out folding and unfolding line process；Synchronous belt shell (53), belt wheel one are provided on reel stand (43) (58), synchronous belt (59) and belt wheel two (60) are located at synchronous belt shell (53) inside, and slide block B (51) is fixed on reel stand (43) On, it is fixed on support base (42) guide rail B (52), slide block B (51) can the transverse movement on guide rail B (52)；Rope clamp (50) lower end For profiling arc-shaped；It can realize that ball-screw (54) drive reel stand by the number of teeth of setting belt wheel one (58) and belt wheel two (60) (43) transverse movement for cooperating reel (48) rope rolling, is arranged on reel (48) so that wirerope (49) is compact；Reel (48) Positive and negative rotation by receiving multi-stage speed reducer (40) output shaft carries out folding and unfolding line process, while making ball-screw (54) positive and negative Turn, so that the rotation of ball-screw (54) is converted into cross of the slide block B (51) being fixed on reel stand (43) on guide rail B (52) To movement, to realize the transverse movement of reel stand (43).

6. high radiation underground space source item according to claim 1 investigates robot system, it is characterised in that: described is distant Control holder (4) include rotate horizontally joint one, pitching rotation joint two, angular contact bearing, Internal cable pipeline (69) and Angular encoder (84)；Joint one is connect with joint two by angular contact bearing；Joint one includes one motor of joint (65), synchronizes One driving wheel of belt wheel (66), driving belt one (74), one driven wheel of synchronous pulley (67), harmonic speed reducer one (68) and joint one Shell (75)；One motor of joint (65) is connected on one shell of joint (75), passes through flat key with one driving wheel of synchronous pulley (66) Connection, one driving wheel of synchronous pulley (67) are connect by driving belt one (74) with one driven wheel of synchronous pulley (67), synchronous belt It takes turns a driven wheel (67) to connect with the rigid gear of harmonic speed reducer one (68), the flexible gear of harmonic speed reducer one (68) and pass Save two shells (70) connection；Joint two includes two motor of joint (72), two driving wheel of synchronous pulley (79), driving belt two (80), two driven wheel of synchronous pulley (82), harmonic speed reducer two (83) and two shell of joint (70)；Two motor of joint (72) is connected It on two shell of joint (70), is connect with two driving wheel of synchronous pulley (79) by flat key, two driving wheel of synchronous pulley (79) is logical It crosses driving belt two (80) to connect with two driven wheel of synchronous pulley (82), two driven wheel of synchronous pulley (82) and harmonic speed reducer two (83) rigid gear connection, the flexible gear of harmonic speed reducer two (83) are connect with two shell of joint (70)；Harmonic speed reducer Angular encoder (84) are installed on two (83), are connect by flange with the flexible gear shell of harmonic speed reducer two (83)；Angle Contact bearing includes angular contact bearing ball (73), angular contact bearing outer ring (77) and angular contact bearing inner ring (78)；Angular contact Bearing outer ring (77) is connect with one shell of joint (75), and angular contact bearing inner ring (78) is connect with two shell of joint (70)；Corner connection Contact bearing ball (73) is arranged between angular contact bearing outer ring (77) and angular contact bearing inner ring (78)；Cable passes through inner wire Cable pipeline (69) is connect with one motor of joint (65) and two motor of joint (72).

7. high radiation underground space source item according to claim 6 investigates robot system, it is characterised in that: described is distant It controls holder (4) and passes through head end machinery quick-release connector (64), the fast replacing device of the electrical quick-release connector of head end (76) and lifting device (2) Interface (25) connection；It is remotely controlled holder (4) and measuring device, or remote control holder is carried by the electrical quick-release connector of end-of-arm tooling (81) (4) by end-of-arm tooling machinery quick-release connector (71) installation instrument clamper (6), instrument clamper (6) carries measuring device.

8. high radiation underground space source item according to claim 1 investigates robot system, it is characterised in that: described holds Carrier vehicle body (5) include screw-threaded shaft elevator structure (85), vehicle frame (86) and leveling and driving mechanism (87), screw-threaded shaft elevator structure (85) with Leveling and driving mechanism (87) are fixed on vehicle frame (86)；Leveling and driving mechanism (87) include Mecanum wheel (88), wheel Driving device (89), shaft one (90), lead screw (91), leveling motor (92), retarder (93), wheel supporting frame (94) and shaft Two (95)；Wheel driver (89) is mounted on wheel supporting frame (94), for driving Mecanum wheel (88) to rotate；Leveling Motor (92) uses absolute value motor, determines whether each wheel lands immediately；Retarder (93) is fixed on vehicle frame by hinge (86) on, shaft two (95) is mounted on vehicle frame (86), and lead screw (91) is connect with wheel supporting frame (94) by shaft one (90), By flanged joint, leveling motor (92) is mounted on the flange of retarder (93) for lead screw (91) and retarder (93)；Shaft two (95), wheel supporting frame (94), shaft one (90), lead screw (91), vehicle frame (86) form four-bar mechanism, are realized by lead screw (91) Two (95) rotate Mecanum wheel (88) around the shaft, to realize the leveling of car body；Screw-threaded shaft elevator structure (85) includes telescopic Cylinder mounting rack (97), travel switch B (98), elevating screw (99), lead screw fixed frame (100), worm reducer B (101) and liter It drops spindle motor (102), is provided with extension sleeve mounting hole (96) on extension sleeve mounting rack (97), screw-threaded shaft elevator structure (85) peace On vehicle frame (86), the nut-welding of elevating screw (99) is on extension sleeve mounting rack (97), elevating screw (99) installation On lead screw fixed frame (100), reducer of turbodrill B (101) is connect with elevating screw (99) by flat key, reducer of turbodrill B (101) it is mounted on vehicle frame (86) by flange, elevating screw motor (102) and reducer of turbodrill B (101) are connected by flange It connects, drives worm reducer B (101) by elevating screw motor (102), to realize the rotation of elevating screw (99), drive The lifting of extension sleeve mounting rack (97)；Travel switch B (98) is mounted on vehicle frame (86), for controlling the upper and lower of extension sleeve Extreme position；Control cabinet (3) is mounted on the side plate of vehicle frame (86), and traction device (1) is mounted on above vehicle frame (86), lifting device (2) it is mounted on screw-threaded shaft elevator structure (85).

9. high radiation underground space source item according to claim 1 investigates robot system, it is characterised in that: the control Case (3) processed includes control cabinet (113), and the preformed hole in control cabinet (113) is equipped with motion-control module (103), switch Power supply (104), ups power (106), interchanger (107), temperature controller (108), industrial personal computer (109), is watched radiator (105) Take driver (110), relay (111) and breaker (112)；Breaker (112) is system power supply master switch, passes through side manually Formula controls on/off；When control cabinet (3) internal temperature be lower than 0 DEG C when, temperature controller (108) automatically to control cabinet (3) into Row heating stops heating when control cabinet (3) internal temperature is higher than 0 DEG C；Switching Power Supply (104) is motion-control module (103), servo-driver (110) and relay (111) provide 24V DC power supply；The input signal of motion-control module (103) Interface is Ethernet interface, realizes data exchange, output signal by interchanger (107) and industrial personal computer (109) with ethernet line Position command is sent out to servo-driver (110) by control signal wire；The output signal and servo motor of servo-driver (110) It is connected, control servo motor completes positioning operation；Radiator (105) is that control cabinet (113) provide cross-ventilation power, allows control The inner air of case (113) forms convection current, enhancing control cabinet (113) and extraneous heat-exchange capacity；Interchanger (107) with it is man-machine Lead to Ethernet/optical fiber connection between interactive system；Relay (111) is for controlling whether servo-driver (110) power supply is connected； Ups power (106) is temporarily system power supply in the case where system accident power-off；Man-machine interactive system passes through interchanger (107) Control command is sent to industrial personal computer (109), after industrial personal computer (109) receives control command, control command is converted to movement Instruction is handed down to motion-control module (103) by control module (103) identifiable instruction by interchanger (107), movement control Molding block (103) converts instructions into pulse again, sends pulse control letter to servo-driver (110) by control signal wire Number, servo-driver (110) is final to realize to traction device according to the pulse control signal control servo motor operating received (1), the position control of lifting device (2), remote control holder (4), bearing body (5) and instrument clamper (6).

10. high radiation underground space source item according to claim 1 investigates robot system, it is characterised in that: described Man-machine interactive system (114) is by display unit (115), manipulation unit (116), core processing unit (117), software unit (118) it forms；Display unit (115) is connected by USB interface with core processing unit (117), for displaying scene equipment State, the range information of position, ultrasonic sensor, the switching information of LED light supplement lamp and scene including each servo motor Ambient image information；Manipulation unit (116) is connect by USB interface with core processing unit (117), and operator is single by manipulation First (116) input control instruction；Core processing unit (117) is used as data processing and computing unit, processing manipulation unit (116) Input data and analyze the range information of the location information of servo motor, ultrasonic sensor；Software unit (118) is for being in The operating status of existing field device, including field device whether have whether in running order electricity, equipment, each shaft position information, Sensing data；The input instruction for manipulating unit (116) includes equipment advance, retreats, turns left, turning right, up and down instruction； After man-machine interactive system (114) starting, operator opens software unit (118), and operator passes through manipulation unit (116) input control System order, control traction device (1), lifting device (2), remote control holder (4), bearing body (5) and instrument clamper (6) fortune Row.