CN111300489A - Shooting and photographing flexible robot suitable for resisting gamma ray irradiation in nuclear environment - Google Patents
Shooting and photographing flexible robot suitable for resisting gamma ray irradiation in nuclear environment Download PDFInfo
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- CN111300489A CN111300489A CN201911228554.6A CN201911228554A CN111300489A CN 111300489 A CN111300489 A CN 111300489A CN 201911228554 A CN201911228554 A CN 201911228554A CN 111300489 A CN111300489 A CN 111300489A
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- Prior art keywords
- pneumatic pipeline
- flexible pneumatic
- driver
- flexible
- pipeline
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
Abstract
The invention discloses a flexible camera and photograph robot suitable for gamma-ray irradiation resistance in a nuclear environment, which comprises a support frame, a movable base, a first flexible pneumatic pipeline, a second flexible pneumatic pipeline, a third flexible pneumatic pipeline, a fourth flexible pneumatic pipeline, a fifth flexible pneumatic pipeline, a CCD camera, a flash lamp, gamma-ray irradiation resistance glass, a controller, an air pump, a first driver for driving the first flexible pneumatic pipeline to stretch, a second driver for driving the second flexible pneumatic pipeline to stretch, a third driver for driving the third flexible pneumatic pipeline to stretch, a fourth driver for driving the fourth flexible pneumatic pipeline to stretch and a fifth driver for driving the fifth flexible pneumatic pipeline to stretch.
Description
Technical Field
The invention relates to a flexible robot, in particular to a flexible robot capable of resisting gamma ray irradiation in a nuclear environment and used for shooting and photographing.
Background
With the development of nuclear energy, the daily detection and maintenance of nuclear facilities, the emergency rescue of nuclear accidents, the decontamination and nuclear disassembly of waste nuclear devices and the like need a nuclear environment robot to complete. Due to radiation exposure in the nuclear environment (e.g., gamma rays, etc.) interaction with the robot. For electronic components and metal materials in the robot, the irradiation of gamma rays can accelerate the aging of the electronic components, influence the service life and the working stability of the robot and even cause the direct scrapping of the components. The nuclear environment robot can not use concrete with huge mass and volume to shield gamma rays due to volume and load, so that the robot can not reliably run for a long time in an irradiation environment, the adaptability is poor, and meanwhile, the existing robot has small degree of freedom and can not realize multi-dimensional movement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a flexible camera and photographing robot which is suitable for resisting gamma ray irradiation in a nuclear environment, and the flexible robot has strong adaptability and can realize multi-dimensional movement.
In order to achieve the above purpose, the flexible robot for photographing and shooting suitable for gamma-ray irradiation resistance in nuclear environment comprises a support frame, a movable base, a first flexible pneumatic pipeline, a second flexible pneumatic pipeline, a third flexible pneumatic pipeline, a fourth flexible pneumatic pipeline, a fifth flexible pneumatic pipeline, a CCD camera, a flash lamp, gamma-ray irradiation resistance glass, a controller, an air pump, a first driver for driving the first flexible pneumatic pipeline to stretch, a second driver for driving the second flexible pneumatic pipeline to stretch, a third driver for driving the third flexible pneumatic pipeline to stretch, a fourth driver for driving the fourth flexible pneumatic pipeline to stretch and a fifth driver for driving the fifth flexible pneumatic pipeline to stretch;
the support frame is positioned in the movable base, the first flexible pneumatic pipeline is vertically fixed at the top of the support frame, the rear side face of the support frame is connected with the inner wall of the rear side of the movable base through the second flexible pneumatic pipeline, the left side face of the support frame is connected with the inner wall of the left side of the movable base through the third flexible pneumatic pipeline, the front side face of the support frame is connected with the inner wall of the front side of the movable base through the fourth flexible pneumatic pipeline, and the right side face of the support frame is connected with the inner wall of the rear side of the movable base through the fifth flexible pneumatic pipeline;
the CCD camera and the flash lamp are positioned at the top of the first flexible pneumatic pipeline, and the gamma-ray irradiation resistant glass is positioned at the front ends of the CCD camera lens and the flash lamp;
the controller is connected with the control end of the air pump, the control end of the first driver, the control end of the second driver, the control end of the third driver, the control end of the fourth driver and the control end of the fifth driver, the air pump is communicated with the first driver, the second driver, the third driver, the fourth driver and the fifth driver, the first driver is communicated with the first flexible pneumatic pipeline, the second driver is communicated with the second flexible pneumatic pipeline, the third driver is communicated with the third flexible pneumatic pipeline, the fourth driver is communicated with the fourth flexible pneumatic pipeline, and the fifth driver is communicated with the fifth flexible pneumatic pipeline;
the first flexible pneumatic pipeline, the second flexible pneumatic pipeline, the third flexible pneumatic pipeline, the fourth flexible pneumatic pipeline and the fifth flexible pneumatic pipeline are made of gamma-ray shielding-resistant flexible silica gel/tungsten-based materials.
The second flexible pneumatic pipeline, the third flexible pneumatic pipeline, the fourth flexible pneumatic pipeline, the fifth flexible pneumatic pipeline and the support frame form a cross structure.
The bottom of the movable base is provided with a pulley.
The CCD camera is connected with an external power supply through a power line, the CCD camera is connected with an external camera controller through a data line, radiation-resistant layers are arranged on the outer walls of the power line and the data line, and the radiation-resistant layers are made of gamma-ray-resistant shielding flexible silica gel/tungsten-based materials.
The movable ranges of the CCD camera in the X-axis direction, the Y-axis direction and the Z-axis direction are all 0-20cm, wherein the first flexible pneumatic pipeline is used as a positive half shaft of the Z-axis, the center of the support frame is used as a coordinate (0, 0, 0) point, the third flexible pneumatic pipeline is used as a negative half shaft of the X-axis, the fifth flexible pneumatic pipeline is used as a positive half shaft of the X-axis, the second flexible pneumatic pipeline is used as a positive half shaft of the Y-axis, and the fourth flexible pneumatic pipeline is used as a negative half shaft of the Y-axis.
The invention has the following beneficial effects:
the invention relates to a flexible camera and photograph robot suitable for resisting gamma ray irradiation in a nuclear environment, which realizes multi-dimensional movement of the robot based on a three-dimensional movement technology and a pneumatic driving technology during specific operation, and simultaneously, gamma ray irradiation resisting glass is positioned at the front ends of a CCD camera lens and a flash lamp, and the first flexible pneumatic pipeline, the second flexible pneumatic pipeline, the third flexible pneumatic pipeline, the fourth flexible pneumatic pipeline and the fifth flexible pneumatic pipeline are made of gamma ray shielding resisting flexible silica gel/tungsten-based materials, can be used in the fields of daily detection and maintenance of nuclear facilities, emergency rescue of nuclear accidents and the like, overcomes the defects of poor interaction between people and the environment, poor adaptability to complex environments, inflexibility of shapes, softness of materials and the like in the prior art.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
The device comprises a CCD camera 1, a flash lamp 2, gamma-ray irradiation resistant glass 3, a power line 4, a first flexible pneumatic pipeline 5, a second flexible pneumatic pipeline 6, a third flexible pneumatic pipeline 7, a fourth flexible pneumatic pipeline 8, a fifth flexible pneumatic pipeline 9, a support frame 10, a movable base 11, a camera controller 12, an air pump 13, a controller 14, a first driver 15, a second driver 16, a third driver 17, a fourth driver 18 and a fifth driver 19.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, the flexible robot for photographing and shooting suitable for gamma ray irradiation resistance in a nuclear environment includes a support frame 10, a movable base 11, a first flexible pneumatic pipeline 5, a second flexible pneumatic pipeline 6, a third flexible pneumatic pipeline 7, a fourth flexible pneumatic pipeline 8, a fifth flexible pneumatic pipeline 9, a CCD camera 1, a flash lamp 2, gamma ray irradiation resistance glass 3, a controller 14, an air pump 13, a first driver 15 for driving the first flexible pneumatic pipeline 5 to stretch and retract, a second driver 16 for driving the second flexible pneumatic pipeline 6 to stretch and retract, a third driver 17 for driving the third flexible pneumatic pipeline 7 to stretch and retract, a fourth driver 18 for driving the fourth flexible pneumatic pipeline 8 to stretch and a fifth driver 19 for driving the fifth flexible pneumatic pipeline 9 to stretch and retract; the support frame 10 is positioned in the movable base 11, the first flexible pneumatic pipeline 5 is vertically fixed at the top of the support frame 10, the rear side face of the support frame 10 is connected with the inner wall of the rear side of the movable base 11 through the second flexible pneumatic pipeline 6, the left side face of the support frame 10 is connected with the inner wall of the left side of the movable base 11 through the third flexible pneumatic pipeline 7, the front side face of the support frame 10 is connected with the inner wall of the front side of the movable base 11 through the fourth flexible pneumatic pipeline 8, and the right side face of the support frame 10 is connected with the inner wall of the rear side of the movable base 11 through the fifth flexible pneumatic pipeline 9; the CCD camera 1 and the flash lamp 2 are positioned at the top of the first flexible pneumatic pipeline 5, the gamma-ray irradiation resistant glass 3 is positioned at the front ends of the lens of the CCD camera 1 and the flash lamp 2, so that the irradiation damage of gamma rays to the lens/flash lamp 2 is reduced, meanwhile, light rays can be allowed to enter, and the shooting quality is guaranteed; the controller 14 is connected with a control end of the air pump 13, a control end of the first driver 15, a control end of the second driver 16, a control end of the third driver 17, a control end of the fourth driver 18 and a control end of the fifth driver 19, the air pump 13 is communicated with the first driver 15, the second driver 16, the third driver 17, the fourth driver 18 and the fifth driver 19, the first driver 15 is communicated with the first flexible pneumatic pipeline 5, the second driver 16 is communicated with the second flexible pneumatic pipeline 6, the third driver 17 is communicated with the third flexible pneumatic pipeline 7, the fourth driver 18 is communicated with the fourth flexible pneumatic pipeline 8, and the fifth driver 19 is communicated with the fifth flexible pneumatic pipeline 9.
The second flexible pneumatic pipeline 6, the third flexible pneumatic pipeline 7, the fourth flexible pneumatic pipeline 8, the fifth flexible pneumatic pipeline 9 and the support frame 10 form a cross structure; the bottom of the movable base 11 is provided with a pulley.
The CCD camera 1 is connected with an external power supply through a power line 4, the CCD camera 1 is connected with an external camera controller 12 through a data line, and radiation-resistant layers are arranged on the outer walls of the power line 4 and the data line.
The movable ranges of the CCD camera 1 in the X-axis direction, the Y-axis direction and the Z-axis direction are all 0-20cm, wherein the first flexible pneumatic pipeline 5 is used as a positive half shaft of the Z-axis, the center of the support frame 10 is used as a coordinate (0, 0, 0) point, the third flexible pneumatic pipeline 7 is used as a negative half shaft of the X-axis, the fifth flexible pneumatic pipeline 9 is used as a positive half shaft of the X-axis, the second flexible pneumatic pipeline 6 is used as a positive half shaft of the Y-axis, the fourth flexible pneumatic pipeline 8 is used as a negative half shaft of the Y-axis, and the three flexible pneumatic pipelines adopt a cooperative control mode, so that the three-dimensional position movement of the camera in the front-back direction, the left-right direction.
The radiation-resistant layer, the first flexible pneumatic pipeline 5, the second flexible pneumatic pipeline 6, the third flexible pneumatic pipeline 7, the fourth flexible pneumatic pipeline 8 and the fifth flexible pneumatic pipeline 9 are made of gamma-ray-resistant shielding flexible silica gel/tungsten-based materials, so that the quality of signal transmission is improved.
The gamma-ray shielding-resistant flexible silica gel/tungsten-based material is prepared from silica gel A and siliconThe tungsten powder is prepared from silica gel A and tungsten powder, wherein the mass ratio of the silica gel A to the silica gel B is 1:1, the total mass of the silica gel A and the silica gel B is 25-150% of the mass of the tungsten powder, the purity of the tungsten powder is more than 99.95%, and the density of the silica gel A and the silica gel B is 1.25-1.35g/cm3。
The specific preparation process of the gamma-ray-shielding-resistant flexible silica gel/tungsten-based material comprises the following steps: 1) weighing silica gel A, silica gel B and tungsten powder, and mixing and stirring the silica gel A and the silica gel B uniformly to obtain a mixture; 2) grinding tungsten powder, pouring the ground tungsten powder into the mixture obtained in the step 1), and uniformly stirring to obtain a mixture of silica gel and tungsten powder; 3) pouring the mixture of silica gel and tungsten powder into a mold, placing the mold in a vacuum tank, vacuumizing, and cooling after bubbles disappear to obtain the silica gel-based flexible shielding material for gamma ray shielding, wherein the mesh number of the tungsten powder before grinding in the step 2) is 500 meshes; the cooling time in the step 3) is 24 h.
The invention overcomes the defects of poor interaction between people and the environment, poor capability of adapting to complex environment, inflexibility and the like in the prior art, reduces the use of electronic components, has the advantages of good shielding performance, high degree of freedom, strong environmental adaptability, changeable shape, soft material and the like, and can be used for daily detection and maintenance of nuclear facilities, emergency rescue of nuclear accidents and the like.
Claims (5)
1. A flexible robot for shooting and taking pictures in nuclear environment with gamma ray radiation resistance, the device comprises a support frame (10), a movable base (11), a first flexible pneumatic pipeline (5), a second flexible pneumatic pipeline (6), a third flexible pneumatic pipeline (7), a fourth flexible pneumatic pipeline (8), a fifth flexible pneumatic pipeline (9), a CCD camera (1), a flash lamp (2), gamma-ray irradiation resistant glass (3), a controller (14), an air pump (13), a first driver (15) for driving the first flexible pneumatic pipeline (5) to stretch, a second driver (16) for driving the second flexible pneumatic pipeline (6) to stretch, a third driver (17) for driving the third flexible pneumatic pipeline (7) to stretch, a fourth driver (18) for driving the fourth flexible pneumatic pipeline (8) to stretch and a fifth driver (19) for driving the fifth flexible pneumatic pipeline (9) to stretch;
the support frame (10) is positioned in the movable base (11), the first flexible pneumatic pipeline (5) is vertically fixed at the top of the support frame (10), the rear side face of the support frame (10) is connected with the inner wall of the rear side of the movable base (11) through the second flexible pneumatic pipeline (6), the left side face of the support frame (10) is connected with the inner wall of the left side of the movable base (11) through the third flexible pneumatic pipeline (7), the front side face of the support frame (10) is connected with the inner wall of the front side of the movable base (11) through the fourth flexible pneumatic pipeline (8), and the right side face of the support frame (10) is connected with the inner wall of the rear side of the movable base (11) through the fifth flexible pneumatic pipeline (9);
the CCD camera (1) and the flash lamp (2) are positioned at the top of the first flexible pneumatic pipeline (5), and the gamma-ray irradiation resistant glass (3) is positioned at the front ends of the lens of the CCD camera (1) and the flash lamp (2);
the controller (14) is connected with the control end of the air pump (13), the control end of the first driver (15), the control end of the second driver (16), the control end of the third driver (17), the control end of the fourth driver (18) and the control end of the fifth driver (19), the air pump (13) is communicated with a first driver (15), a second driver (16), a third driver (17), a fourth driver (18) and a fifth driver (19), the first driver (15) is communicated with the first flexible pneumatic pipeline (5), the second driver (16) is communicated with the second flexible pneumatic pipeline (6), the third driver (17) is communicated with the third flexible pneumatic pipeline (7), the fourth driver (18) is communicated with the fourth flexible pneumatic pipeline (8), and the fifth driver (19) is communicated with the fifth flexible pneumatic pipeline (9);
the first flexible pneumatic pipeline (5), the second flexible pneumatic pipeline (6), the third flexible pneumatic pipeline (7), the fourth flexible pneumatic pipeline (8) and the fifth flexible pneumatic pipeline (9) are made of gamma-ray shielding-resistant flexible silica gel/tungsten-based materials.
2. The flexible camera and camera robot suitable for gamma ray irradiation resistance in nuclear environment as claimed in claim 1, wherein the second flexible pneumatic pipeline (6), the third flexible pneumatic pipeline (7), the fourth flexible pneumatic pipeline (8), the fifth flexible pneumatic pipeline (9) and the support frame (10) form a cross structure.
3. The flexible robot for photographing and videography of nuclear environment resistant to gamma ray irradiation of claim 1 is characterized in that the bottom of the movable base (11) is provided with pulleys.
4. The flexible robot for photographing and shooting suitable for gamma-ray irradiation resistance in nuclear environment according to claim 1, wherein the CCD camera (1) is connected with an external power supply through a power line (4), the CCD camera (1) is connected with an external camera controller (12) through a data line, wherein radiation-resistant layers are arranged on outer walls of the power line (4) and the data line, and the radiation-resistant layers are made of gamma-ray-resistant shielding flexible silica gel/tungsten-based materials.
5. The flexible camera and photograph robot suitable for resisting gamma ray irradiation in nuclear environment as claimed in claim 1, wherein the movable range of the CCD camera (1) in the X-axis direction, the Y-axis direction and the Z-axis direction is 0-20cm, wherein the first flexible pneumatic pipeline (5) is used as the positive half axis of the Z-axis, the center of the support frame (10) is used as the coordinate (0, 0, 0) point, the third flexible pneumatic pipeline (7) is used as the negative half axis of the X-axis, the fifth flexible pneumatic pipeline (9) is used as the positive half axis of the X-axis, the second flexible pneumatic pipeline (6) is used as the positive half axis of the Y-axis, and the fourth flexible pneumatic pipeline (8) is used as the negative half axis of the Y-axis.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911228554.6A CN111300489B (en) | 2019-12-04 | 2019-12-04 | Shooting and photographing flexible robot suitable for resisting gamma ray irradiation in nuclear environment |
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| CN201911228554.6A CN111300489B (en) | 2019-12-04 | 2019-12-04 | Shooting and photographing flexible robot suitable for resisting gamma ray irradiation in nuclear environment |
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| CN111300489A true CN111300489A (en) | 2020-06-19 |
| CN111300489B CN111300489B (en) | 2021-12-28 |
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| GB2168029B (en) * | 1984-12-04 | 1988-02-17 | Nat Res Dev | Alignment devices |
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| CN105150636A (en) * | 2015-06-19 | 2015-12-16 | 中科华核电技术研究院有限公司 | Flexible shielding material and preparation method thereof |
| CN109571491A (en) * | 2018-11-16 | 2019-04-05 | 江苏峰汇智联科技有限公司 | A kind of intelligent fire robot |
| CN209565725U (en) * | 2019-02-22 | 2019-11-01 | 惠州市华阳多媒体电子有限公司 | A kind of positioning of CCD vision-based detection and vacuum absorption mechanisms |
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2019
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US4571148A (en) * | 1982-03-15 | 1986-02-18 | National Research Development Corporation | Manipulating unit |
| GB2168029B (en) * | 1984-12-04 | 1988-02-17 | Nat Res Dev | Alignment devices |
| CN2417487Y (en) * | 2000-04-06 | 2001-01-31 | 上海兴禄科技实业有限公司 | Anti radiation of rays type lens of camera |
| CN1885064A (en) * | 2005-06-23 | 2006-12-27 | 中国科学院自动化研究所 | Vision servo system and method for automatic leakage detection platform for sealed radioactive source |
| CN101430941A (en) * | 2008-12-22 | 2009-05-13 | 中国核动力研究设计院 | Flexible compound radiation shielding material |
| CN105150636A (en) * | 2015-06-19 | 2015-12-16 | 中科华核电技术研究院有限公司 | Flexible shielding material and preparation method thereof |
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| CN111300489B (en) | 2021-12-28 |
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