CN113084832A - Radiation-resistant nuclear emergency disassembling robot based on battery power - Google Patents

Abstract

The utility model relates to the technical field of, especially, relate to an emergent robot of disassembling of resistant irradiation nuclear based on battery power, including removing the chassis, connecting mechanical arm subassembly and power component on the removal chassis, power component includes the group battery and is located the group battery with force pump between the mechanical arm subassembly, force pump with the group battery electricity is connected, force pump with mechanical arm subassembly tube coupling is and is driving the mechanical arm subassembly action. So set up, through the position design to power and force pump, can reduce the vibrations that cause the removal chassis, and then guarantee the steady of arm assembly, be favorable to high-efficient accurate disassembling to clear away the barrier, promote the efficiency of emergency rescue.

Description

Radiation-resistant nuclear emergency disassembling robot based on battery power

Technical Field

The application relates to the technical field of an irradiation-resistant nuclear emergency disassembling robot, in particular to an irradiation-resistant nuclear emergency disassembling robot based on battery power.

Background

The nuclear accident disaster environment has the characteristics of strong radiation, blocked communication, complex operation task, unclear operation object and the like, and the manual rescue is difficult to carry out. The nuclear device accident emergency disposal robot adopts a man-machine interaction remote operation and autonomous cooperation mode to complete tasks of entering a core area, environment detection, disassembly, transportation and disposal operation and the like under a complex dangerous radiation environment of a nuclear accident. When a major nuclear accident occurs, emergency rescue personnel can use the irradiation-resistant nuclear emergency dismantling robot to enter an accident site for emergency rescue at the first time, and the nuclear accident emergency rescue process can be performed for several times, but the irradiation-resistant nuclear emergency dismantling robot is not ideal in use. The main reason is that the irradiation-resistant robot has poor adaptability to the nuclear accident site due to the complex site situation after the nuclear accident.

The power source of the traditional robot adopts a generator or a cable to feed power, wherein the action range of the robot is limited due to the power supply of the cable, and the robot is not suitable for complex terrains; the mode of generator power supply can produce great vibrations, causes the terminal unstability of robot mechanical arm, and the high-efficient work of removing obstacles accurately of being not convenient for slows down emergency rescue efficiency.

Therefore, how to solve the problem that the power source of the existing irradiation-resistant nuclear emergency disassembling robot can generate large vibration to influence the stability of the mechanical arm is a key technical problem to be solved by technical personnel in the field.

Disclosure of Invention

For overcoming the problem that exists in the correlation technique to a certain extent at least, the aim at of this application provides a resistant irradiation nuclear is emergent to be disassembled robot based on battery power, and it can solve the power supply that current resistant irradiation nuclear is emergent to be disassembled robot and can produce great vibrations, influences the problem of the stationarity of arm. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the application are described in detail in the following.

The application provides an emergent robot of disassembling of resistant irradiation nuclear based on battery power, including removing the chassis, connecting mechanical arm subassembly and power component on the removal chassis, power component includes the group battery and is located the group battery with force pump between the mechanical arm subassembly, force pump with the group battery electricity is connected, force pump with mechanical arm subassembly tube coupling is being driven the mechanical arm subassembly action.

Preferably, a cushion block is arranged between the pressure pump and the movable chassis.

Preferably, the power assembly further comprises a pressure tank located between the battery pack and the mechanical arm assembly, and the pressure pump is connected with the pressure tank through a pipeline.

Preferably, the power assembly comprises a mounting bracket, and the cushion block is arranged between the pressure pump and the mounting bracket.

Preferably, the mounting bracket is provided with mounting positions for accommodating the battery pack, the pressure pump and the pressure tank, and the pressure pump is located above the pressure tank.

Preferably, the pressure pump and the pressure tank are provided as an air pump and an air tank, respectively.

Preferably, the battery pack is provided as a UPS battery.

Preferably, a tool magazine is arranged above the mounting bracket, a terminal tool quick-change device is arranged on the mechanical arm assembly, a milling tool storage module and a sawing tool storage module are arranged on the tool magazine, a plurality of milling tools are contained in the milling tool storage module, a plurality of sawing tools are contained in the sawing tool storage module, the plurality of milling tools are different in size, the plurality of sawing tools are different in size, and the terminal tool quick-change device comprises a rotary chuck for clamping the milling tools or the sawing tools and a driving device for controlling the rotary chuck to clamp and loosen.

Preferably, the mechanical arm assembly comprises a fixed frame rotatably connected with the moving chassis and a hybrid robot mounted on the fixed frame, a terminal tool is detachably mounted at the terminal of the hybrid robot through a quick-change connector, and the terminal tool at least comprises the milling cutter and the sawing cutter.

Preferably, the mobile chassis comprises a mobile platform, crawler traveling devices positioned on the left side and the right side of the mobile platform, at least three leveling support legs distributed on the periphery of the mobile platform and used for supporting the mobile platform, first laser radars distributed on the periphery of the mobile platform and used for acquiring obstacle avoidance information, second laser radars positioned on the front side of the mobile platform and used for acquiring environmental information, and a core control component, wherein the lower end of each leveling support leg is provided with a leveling sensor used for sensing support pressure, and the leveling support legs are communicably connected with the leveling sensors and adjust the support length of the leveling support legs according to the sensing values of the leveling support legs; the first laser radar, the second laser radar and the crawler traveling device are in communication connection with the core control component, the core control component controls the crawler traveling device to execute obstacle avoidance actions according to obstacle avoidance information acquired by the first laser radar, the core control component constructs an environment map according to environment information acquired by the second laser radar, and determines coordinates of the crawler traveling device in the environment map according to mileage information of the crawler traveling device.

The technical scheme provided by the application can comprise the following beneficial effects:

the power assembly comprises a battery pack and a pressure pump, the pressure pump is electrically connected with the battery pack, the pressure pump is powered by the battery pack, the pressure pump is connected with the mechanical arm assembly through a pipeline and drives the mechanical arm assembly to move, and therefore the battery pack is used as a power source and does not vibrate, and the stability of the mechanical arm assembly can be improved. And the pressure pump is positioned between the battery pack and the mechanical arm assembly and is positioned in the middle of the movable chassis, so that resonance generated by vibration of the pressure pump can be reduced, and stability of the mechanical arm assembly is ensured.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a block diagram illustrating a multi-function radiation tolerant nuclear-based emergency disassembly robot, according to some exemplary embodiments;

FIG. 2 is a positional block diagram of a shock absorber shim according to some exemplary embodiments;

FIG. 3 is a perspective view showing a mobile chassis, according to some exemplary embodiments;

FIG. 4 is a front view of a mobile chassis shown in accordance with some exemplary embodiments;

FIG. 5 is a schematic structural view of a leveling leg shown in accordance with some exemplary embodiments;

FIG. 6 is a perspective view of a robotic arm assembly shown in accordance with some exemplary embodiments;

FIG. 7 is a diagram illustrating the connection of parallel robotic arms to a robot according to some exemplary embodiments;

FIG. 8 is a perspective view of a parallel robotic arm according to some exemplary embodiments;

fig. 9 is a perspective view of a robot shown in accordance with some exemplary embodiments;

FIG. 10 is a cross-sectional view of a stationary gantry shown in accordance with some exemplary embodiments;

fig. 11 is a perspective view of an end tool quick-change device shown in accordance with some exemplary embodiments;

fig. 12 is a perspective view of an end tool quick-change device shown in accordance with some exemplary embodiments;

fig. 13 is an exploded view of an end tool quick-change device shown in accordance with some exemplary embodiments;

FIG. 14 is a perspective view of a rotating chuck shown in accordance with some exemplary embodiments;

FIG. 15 is a front view, shown in accordance with some exemplary embodiments, with the main panel of the tool magazine hidden;

FIG. 16 is a schematic view showing a sawing tool mounted in a mount according to some exemplary embodiments;

fig. 17 is a perspective view of a milling tool shown in a quick-insert-and-pull module, according to some exemplary embodiments;

FIG. 18 is an exploded view one of the quick-connect-disconnect module shown in accordance with some demonstrative embodiments;

FIG. 19 is an exploded view two of the quick-connect module shown in accordance with some exemplary embodiments;

fig. 20 is a cross-sectional view of a housing shown in accordance with some example embodiments.

In the figure: 11. a mobile platform; 12. a crawler traveling device; 13. leveling the supporting legs; 14. a leveling sensor; 15. an irradiation resistant cavity; 16. a first laser radar; 17. a second laser radar; 121. a walking frame; 122. a drive wheel; 123. a guide wheel;

21. a battery pack; 22. a pressure pump; 23. a pressure tank; 24. a tool magazine; 25. damping cushion blocks;

31. a slewing bearing; 32. fixing the frame; 33. connecting the main shafts in parallel; 34. a first countershaft assembly; 35. a second countershaft assembly; 36. a third sub-shaft assembly; 37. a movable platform; 38. a manipulator; 39. a first rotating bracket; 310. a second rotating bracket; 311. a connecting seat; 312. a connector; 313. a driving wheel; 314. a driven wheel; 315. a transmission belt; 316. a push motor; 317. an outer tube; 318. a push rod; 319. a drive motor; 320. a gear; 321. a ring gear; 322. a rotating electric machine; 323. a ball hinge; 324. a slide rail; 325. a laser sensor mounting position;

41. milling a cutter; 42. sawing a cutter; 43. a pneumatic spindle; 44. rotating the chuck; 45. a chuck air inlet pipe; 46. a chuck air outlet pipe; 47. a first control valve; 48. a main shaft air inlet pipe; 49. a main shaft air outlet pipe; 410. a second control valve; 411. a gas supply pipe; 412. a flange plate; 413. a splint; 414. positioning a groove; 415. quickly plugging and unplugging the module; 416. a mounting seat; 417. a housing; 418. a wedge-shaped collet; 419. a limiting rotating ring; 420. a spring; 421. a first convex portion; 422. a card slot; 423. a second convex portion; 424. a third convex portion; 425. a groove; 426. cooling the spray pipe by the milling cutter; 427. a saw blade cooling spray pipe; 428. and a cooling tank.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus or methods consistent with aspects of the present application.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

Hereinafter, embodiments will be described with reference to the drawings. The embodiments described below do not limit the contents of the invention described in the claims. The entire contents of the configurations shown in the following embodiments are not limited to those required as solutions of the inventions described in the claims.

Referring to fig. 1 to 20, the embodiment provides a battery power-based irradiation-resistant nuclear emergency dismantling robot, which includes a mobile chassis, a mechanical arm assembly and a power assembly, wherein the mechanical arm assembly and the power assembly are both disposed on the mobile chassis and are carried by and driven by the mobile chassis to travel, the mechanical arm assembly is disposed in front of the mobile chassis and used for dismantling and removing obstacles, and the power assembly is disposed in rear of the mobile chassis and used for providing power for the mechanical arm assembly to drive the mechanical arm assembly to move.

Here, the power assembly includes a battery pack 21 and a pressure pump 22, the pressure pump 22 is electrically connected to the battery pack 21, the pressure pump 22 is powered by the battery pack 21, and the pressure pump 22 is connected to the mechanical arm assembly through a pipeline and drives the mechanical arm assembly to move, so that the battery pack 21 is used as a power source without vibration, and the stability of the mechanical arm assembly can be improved.

Moreover, the pressure pump 22 is located between the battery pack 21 and the mechanical arm assembly and in the middle of the movable chassis, so that resonance generated by vibration of the pressure pump 22 can be reduced, and stability of the mechanical arm assembly is guaranteed.

So set up, through the position design to power and force pump 22, can reduce the vibrations that cause the removal chassis, and then guarantee the steady of arm assembly, be favorable to high-efficient accurate disassembling to clear away the barrier, promote emergency rescue's efficiency.

In this embodiment, the damping cushion block 25 is arranged between the pressure pump 22 and the mobile chassis, so that the vibration transmission between the pressure pump 22 and the mobile chassis can be reduced, the vibration transmission is further avoided for the mechanical arm assembly, and the stability of the mechanical arm assembly is further ensured.

Wherein, power component is still including overhead tank 23, and overhead tank 23 sets up between mechanical arm subassembly and group battery 21 and with force pump 22 tube coupling, through the gas in force pump 22 regulation and control overhead tank 23, and then control the action of mechanical arm subassembly, and in addition, the close setting of force pump 22 and overhead tank 23 is favorable to reducing the length of pipeline. Particularly, the pump tank of the power assembly is separately arranged, so that the volume of the vibration source can be reduced, and the vibration effect is further reduced.

In some preferred schemes, the power assembly further comprises a mounting bracket fixed above the movable chassis, wherein the cushion block 25 is arranged between the mounting bracket and the pressure pump 22, due to the effect of the mounting bracket, the position of the pressure pump 22 can be limited, the pressure pump 22 is prevented from shaking, and the pressure pump 22 and the movable chassis are supported at intervals, so that the consumption of vibration can be increased, and the vibration transmission to the mechanical arm assembly can be reduced.

Furthermore, the mounting bracket is provided with mounting positions for accommodating the battery pack 21, the pressure pump 22 and the pressure tank 23, and the pressure pump 22 is positioned above the pressure tank 23, so that the influence of the pressure tank 23 on the moving chassis can be reduced; the pressure pump 22 and the pressure tank 23 are arranged on the inner side of the battery pack 21 side by side, so that the integrity of the pressure pump 22 and the pressure tank 23 is ensured, the space is reasonably utilized, and the center of gravity of the whole robot is ensured to be centered.

Specifically, the pressure pump 22 and the pressure tank 23 are respectively provided as an air pump and an air tank, so that the weight can be effectively reduced, and the effect of light weight can be achieved.

The battery pack 21 is a UPS (Uninterruptible Power Supply) battery, and supplies Power uninterruptedly, thereby ensuring stability and reliability of the Power Supply.

In order to avoid the influence of radiation on the power assembly, the outer side of the power assembly is provided with an irradiation-resistant shell.

Some examples 1

In some embodiments, as shown in fig. 11 to 20, a tool magazine 24 is provided on the mounting bracket, and the end of the mechanical arm assembly is provided with an end tool quick-change device radiation-resistant core, wherein the tool magazine 24 is provided with a milling tool storage module and a sawing tool storage module, the milling tool storage module is provided with a plurality of milling tools 41, the sawing tool storage module is provided with a plurality of sawing tools 42, and the end tool quick-change device comprises a rotary chuck 44 and a driving device, the rotary chuck 44 is used for clamping the milling tools 41 or the sawing tools 42, and the driving device is used for driving the rotary chuck 44 to clamp and unclamp so as to clamp or unclamp the milling tools 41 or the sawing tools 42, thereby realizing the quick change of the end tool.

It should be noted that the plurality of milling tools 41 have different sizes, and the plurality of sawing tools 42 have different sizes, so as to select a desired milling tool 41 or sawing tool 42.

When the irradiation-resistant nuclear emergency dismantling robot remotely replaces a tail end tool, firstly, the mechanical arm drives the tail end tool quick-change device to move to a proper position of the tool magazine, namely the mechanical arm drives the tail end tool quick-change device to move to the position of a milling tool 41 or a sawing tool 42 with a required size, and pushes the rotary chuck 44 forwards to the position of the milling tool 41 or the sawing tool 42, the driving device controls the rotary chuck 44 to be in a loosening state, the mechanical arm continues to push the rotary joint forwards, so that the milling tool 41 or the sawing tool 42 enters the milling tool storage module or the sawing tool storage module, and the milling tool 41 or the sawing tool 42 is placed back into the tool magazine; then, the mechanical arm drives the end tool quick-change device to move to the position of the required milling tool 41 or sawing tool 42, the driving device controls the rotary chuck 44 to be in a loosening state, the mechanical arm continues to advance the rotary joint, when the rotary joint is connected with the milling tool 1 or sawing tool 42, the driving device controls the rotary chuck 44 to clamp, so that the milling tool 41 or sawing tool 42 is installed on the end tool quick-change device, and then the mechanical arm retreats to pull the milling tool 41 or sawing tool 42 out of the tool magazine for subsequent task operation.

It should be noted that, the operator can control the replacement of the end tool remotely through the controller of the irradiation-resistant nuclear emergency dismantling robot. An operator remotely starts automatic tool changing, the controller controls the robot to return to the operation initial posture from the operation posture, controls the mechanical arm to rotate 180 degrees, faces the tool magazine, adjusts the mechanical arm to the tool changing initial position, and controls the mechanical arm to be positioned at the vacancy of the milling cutter storage module if the original tail end tool is a milling tool, and inserts the original milling tool into the vacancy of the milling cutter storage module; if the original tail end tool is a sawing cutter, the mechanical arm is controlled to be positioned to the vacancy of the sawing cutter storage module, the original sawing cutter is inserted into the vacancy of the sawing cutter storage module, then the cutter is loosened through a rotary joint on the mechanical arm, the mechanical arm drives the rotary joint to return to the cutter changing initial position, and if the milling cutter needs to be replaced, the mechanical arm is positioned to the position, to be replaced, of the milling cutter storage module, moves to the new milling cutter position and clamps the milling cutter; if the sawing tool needs to be replaced, the mechanical arm is positioned to the position where the sawing tool storage module is to replace the new sawing tool, and is moved to the position of the new sawing tool and clamps the sawing tool; and then the mechanical arm draws a new tool out of the tool magazine and returns to the tool changing initial position, the mechanical arm rotates 180 degrees in the reverse direction, the operation initial state is returned, and remote automatic tool changing is completed.

So set up, through the cooperation of arm and end instrument quick change device, realized the long-range quick replacement of the end instrument that is applicable to different operating modes.

In this embodiment, the driving device includes a pneumatic spindle 43, a collet air inlet tube 45 and a collet air outlet tube 46 for supplying and exhausting air to and from the rotary collet 44, and a first control valve 47 for controlling on/off of the collet air inlet tube 45 and the collet air outlet tube 46, the pneumatic spindle 43 is fixedly connected to the robot arm, the rotary collet 44 is disposed at the end of the pneumatic spindle 43, the first control valve 47 is disposed on the pneumatic spindle 43, and the first control valve 47 is connected to the collet air inlet tube 45 and the collet air outlet tube 46 for controlling on/off of the collet air inlet tube 45 and the collet air outlet tube 46, thereby controlling the rotary collet 44.

It should be noted that the quick-change device for the end tool further includes a spindle air inlet pipe 48 and a spindle air outlet pipe 49, both the spindle air inlet pipe 48 and the spindle air outlet pipe 49 are communicated with the pneumatic spindle 43, and the spindle air inlet pipe 48 and the spindle air outlet pipe 49 are connected with the pneumatic spindle 43 through a second control valve 410, so that the second control valve 410 can control the on-off of the spindle air inlet pipe 48 and the spindle air outlet pipe 49, thereby controlling the rotation of the pneumatic spindle 43, so as to control the rotation of the rotary chuck 44, and thus realizing the operation control of the milling tool 41 or the sawing tool 42.

Here, the first control valve 47 and the second control valve 410 may be solenoid valves, and the first control valve 47 and the second control valve 410 are each connected with an air supply pipe 411, and the air supply pipe 411 is connected with an air supply device to supply air to the driving apparatus.

In this embodiment, the spin chuck 44 includes a plurality of clamping plates 413 having elasticity, the plurality of clamping plates 413 are disposed around an axis of the spin chuck 44, and a gap is left between two adjacent clamping plates 413, so that the plurality of clamping plates 413 can move toward or away from each other.

When the first control valve 47 controls the chuck air inlet pipe 45 to feed air, the clamping plates 413 are pressed by the air to approach each other, and the milling cutter 41 or the sawing cutter 42 is clamped; when the first control valve 47 controls the chuck outlet pipe 46 to exhaust gas, the gas in the rotating chuck 44 is led out, so that the plurality of clamping plates 413 are deformed again, and the plurality of clamping plates 413 are far away from each other, so that the milling cutter 41 or the sawing cutter 42 is released.

In some embodiments, the automatic tool changing system further includes a cooling device for cooling the milling tool 41 and the sawing tool 42, the cooling device includes a cooling tank 428 containing cooling liquid, an air pump for supplying air to the cooling tank 428, and a cooling spray pipe assembly communicated with a liquid outlet of the cooling tank 428, the cooling tank 428 and the air pump are both disposed on the mobile carrier, and the air pump is communicated with the cooling tank 428 for supplying air into the cooling tank 428, so that the air and the cooling liquid are mixed, and the cooling liquid is sprayed out from the cooling spray pipe assembly to cool the milling tool 41 and the sawing tool 42. It should be noted that, an electromagnetic valve is disposed at the outlet of the cooling tank 428 for controlling the on-off of the outlet of the cooling tank 428, thereby controlling the liquid outlet.

Here, a cooling nozzle assembly is provided above the rotary chuck 44 to facilitate cooling of the milling cutter 41 and the sawing cutter 42.

Wherein, the cooling spray pipe assembly comprises a milling cutter cooling spray pipe 426 and a sawing blade cooling spray pipe 427, the outlet of the milling cutter cooling spray pipe 426 is arranged towards the milling cutter, and the outlet of the sawing blade cooling spray pipe 427 is arranged towards the sawing blade, so that the spraying of cooling liquid for the milling cutter and the sawing blade is convenient.

The clamping process of the rotating chuck 44 is: the air supply pipe 411 supplies air, and the first control valve 47 controls the chuck air inlet pipe 45 to be communicated, so that the rotary chuck 44 is clamped; the gas within the spin chuck 44 is exhausted from chuck outlet tube 46 through first control valve 47. Moreover, the first control valve 47 is also connected with a silencer, and the silencer is communicated with the air outlet of the first control valve 47 so as to reduce the noise during the exhaust.

In this embodiment, the milling cutter storage module is provided with a plurality of quick plugging modules 415 for fixing the milling cutters 41, and the plurality of milling cutters 41 are arranged in the plurality of quick plugging modules 415 one by one; the saw cutting knife storage module is provided with a plurality of mounting seats 416 for fixing the saw cutting tools 42, and the saw cutting tools 42 are placed in the mounting seats 416 one by one.

In a preferred embodiment, the quick-connect/disconnect module 415 comprises a housing 417, a wedge-shaped collet 418 slidably disposed in the housing 417, and a limit swivel 419, wherein the housing 417 is fixedly connected to the milling cutter storing module, the limit swivel 419 is disposed at a front end of the wedge-shaped collet 418, the limit swivel 419 is connected to a front end of the housing 417 by an elastic member, and the wedge-shaped collet 418 can slide the limit swivel 419, wherein the wedge-shaped collet 418 is used for clamping the milling collet.

Specifically, a clamping groove 422 is formed in the inner wall of the housing 417, a first protrusion 421 is formed on the limiting rotary ring 419, and the first protrusion 421 can slide into the clamping groove 422 and slide out of the wedge-shaped collet 418. When the wedge-shaped collet chuck 418 drives the limiting rotary ring 419 to advance, the limiting rotary ring 419 rotates under the action of the elastic element, so that the first convex part 421 slides into the clamping groove 422, at the moment, the limiting rotary ring 419 slides onto the wedge-shaped collet chuck 418, so that the wedge-shaped collet chuck 418 is deformed under the clamping action of the first convex part 421, and the milling cutter 41 is clamped, so that the milling cutter 41 is placed on the tool magazine; when the wedge-shaped collet 418 drives the limit rotary ring 419 to advance and the limit rotary ring 419 is subjected to the action of the elastic member to rotate again, so that the first convex part 421 slides out of the clamping groove 422, at this time, the limit rotary ring 419 is separated from the wedge-shaped collet 418, so that the wedge-shaped collet 418 is deformed again, and the milling cutter 41 is loosened, so that the milling cutter 41 can be pulled out by the quick end tool change device.

The material of the wedge-shaped collet 418 may be an elastic engineering plastic material, and the material of the wedge-shaped collet 418 is not specifically limited, and only needs to have certain elasticity. And the surface of the wedge collet 418 is smooth and does not present a self-locking condition. The elastic member may be a spring 420.

Wherein, the inner wall of the housing 417 is further provided with a second protrusion 423 for limiting the sliding of the limit rotating ring 419, and the first protrusion 421 can abut against the second protrusion 423 to make the limit rotating ring 419 and the housing 417 form a relative fixation, so as to avoid the limit rotating ring 419 from sliding along the axial direction.

A plurality of second convex parts 423 are arranged on the inner wall of the housing 417, a clamping groove 422 is formed by a gap between two adjacent second convex parts 423, and the number of the first convex parts 421 is matched with the number of the second convex parts 423 and the clamping groove 422.

Here, one end of the second protrusion 423 facing the rotation-restricting ring 419 is provided with a groove 425, that is, the front end of the second protrusion 423 is provided with a groove 425, and the rear end of the first protrusion 421 can be inserted into the groove 425, so that the first protrusion 421 can be engaged with the second protrusion 423, and the rotation-restricting ring 419 cannot slide any more.

The rear end surface of the first protrusion 421 is an inclined surface, the side wall surface of the concave groove 425 of the second protrusion 423 is an inclined surface, and the inclined directions of the two inclined surfaces are the same, so that the first protrusion 421 can be easily removed from the concave groove 425.

In order to facilitate the wedge-shaped collet 418 to push the limit rotating ring 419 to advance to compress the elastic member so as to enable the first convex part 421 to slide into the clamping groove 422, the outer wall of the wedge-shaped collet 418 is provided with a third convex part 424, the third convex part 424 can be abutted against the first convex part 421 and pushes the first convex part 421 to be far away from the second convex part 423, so that the rear end of the first convex part 421 is disengaged from the groove 425, the limit rotating ring 419 is rotated under the elastic action of the elastic member, and the first convex part 421 slides into the clamping groove 422.

Here, the number of the third protrusions 424 may coincide with the number of the second protrusions 423, and the third protrusions 424 may be located inside the second protrusions 423 to correspond one-to-one with the second protrusions 423.

In this embodiment, to avoid the wedge collet 418 slipping out of the rear end of the housing 417, the opening diameter at the rear end of the housing 417 is smaller than the maximum diameter of the wedge collet 418.

In this embodiment, the mounting seat 416 is tightly fitted with the sawing tool 42 so that the sawing tool 42 is fixed in the mounting seat 416, thereby fixing the sawing tool 42.

Preferably, to facilitate the extraction of the sawing tool 42, the material of the mounting seat 416 may be a plastic material with elasticity, and here, the plastic material is not particularly limited and may be determined according to actual needs.

In this embodiment, the sawing tool 42 comprises a saw blade and an input shaft connected to the saw blade, which can extend into the rotating chuck 44 and be clamped by the rotating chuck 44, thereby enabling the quick change device of the end tool to be connected to the sawing tool 42.

Also, the sawing tool 42 includes a stationary housing that covers the input shaft and covers the rotating chuck 44 when the rotating chuck 44 is clamping the input shaft. A flange plate 412 is fixedly arranged outside the rotary chuck 44, a plurality of positioning grooves 414 are formed in the flange plate 412, a plurality of positioning pins are arranged on the fixed shell, the positioning pins correspond to the positioning grooves 414 in a one-to-one mode, and the positioning pins can be embedded into the positioning grooves 414 to realize the connection between the fixed shell and the flange plate 412, so that the connection between the sawing cutter 42 and the quick-change device for the end tool is enhanced.

The sawing tool 42 further comprises a speed reducer, through which the input shaft is connected to the saw blade in order to reduce the rotational speed of the saw blade.

In this embodiment, the milling tool 41 includes a milling cutter, an elastic chuck for fixing the milling cutter, a fastening nut sleeved outside the elastic chuck, a cutter shaft for connecting with the rotary chuck 44, and an intermediate shaft for connecting the cutter shaft and the elastic chuck, and an outer diameter of the intermediate shaft is larger than an outer diameter of the cutter shaft, so as to determine a position where the rotary chuck 44 clamps the milling tool 41. Specifically, when the front end of the rotary chuck 44 hits the shoulder of the intermediate shaft when the rotary chuck 44 is clamping the milling cutter 41, it indicates that the rotary chuck 44 is in place, and the rotary chuck 44 can be made to clamp the cutter shaft.

Here, the diameter of the milling cutter may be 10mm, or 12mm, or other specifications.

In another preferred embodiment of this embodiment, the outer surface of the tool magazine is provided with an irradiation-resistant material layer to shield α rays, β rays, γ rays, seed rays, or the like, thereby improving the irradiation resistance of the tool magazine.

Preferably, the tool magazine is internally provided with a closed space for mounting electronic components, so that the electronic components are prevented from being damaged or incapable of working normally due to the influence of various rays, and the effect of protecting the electronic components is achieved.

Some examples 2

In some embodiments, as shown in fig. 6-10, the robot arm assembly includes a stationary frame 32 and a hybrid robot, the hybrid robot is mounted on the stationary frame 32, and the stationary frame is rotatably coupled to the mobile chassis to enable the hybrid robot to rotate 360 degrees on the mobile chassis.

The tail end of the hybrid robot is detachably provided with a tail end tool through the quick-change connector, and the tail end tool at least comprises a milling cutter and a sawing cutter, so that the milling operation and the sawing operation are conveniently realized, and the milling and sawing dual-purpose functions of the mechanical arm component are realized.

So set up, the series-parallel connection robot can realize 360 degrees rotations on removing the chassis to realize the removal or the rotation in terminal instrument space and the plane, thereby can the terminal instrument of accurate control orbit and gesture, make the operation more accurate, solved current emergent terminal instrument's of control position and gesture that the robot can not be nimble and accurate of disassembling, and can't operate accurately and be not convenient for carry out the problem of the change of terminal instrument.

In a preferred embodiment of the present embodiment, the fixed frame 32 is rotatably connected to the movable chassis through the pivoting support 31.

In addition, the mechanical arm assembly further comprises a driving unit for driving the fixed frame 32 to rotate, so that the rotation of the hybrid robot is realized.

Specifically, the driving unit includes a gear 320, a gear ring 321 and a driving motor 319, the gear 320 is connected with the fixed frame 32, the driving motor 319 is used for driving the gear 320 to rotate, the gear ring 321 is arranged on the slewing bearing 31, the gear 320 is positioned in the gear ring 321, and the gear 320 is meshed with the gear ring 321, so that the driving motor 319 drives the gear 320 to rotate, the gear 320 rotates around the gear ring 321, and the fixed frame 32 rotates.

Here, a driving motor 319 is provided on the fixed frame 32 to be capable of rotating in synchronization with the gear 320, thereby facilitating the rotation of the driving gear 320.

It should be noted that the pivoting support 31 is fixedly mounted on the moving chassis, specifically, the pivoting support 31 may be integrated with the moving chassis, may be connected to the moving chassis by a bolt, or may be welded to the moving chassis.

In order to accurately position a working workpiece, the tail end of the hybrid robot is also provided with a laser sensor, a laser sensor mounting position 325 for mounting the laser sensor is arranged below the rotary joint, the laser sensor is connected with a control device of the irradiation-resistant nuclear emergency disassembling robot in a communication mode, the laser sensor can detect the distance between the tail end of the hybrid robot and the workpiece, and the workpiece can be scanned. When the irradiation-resistant nuclear emergency dismantling robot reaches the dismantling operation initial position and starts accurate positioning operation, the hybrid robot moves to a workpiece to a preset distance, even if the distance between the hybrid robot and the workpiece is the preset distance, then the hybrid robot drives the laser sensor to scan the workpiece, scanning is carried out above the operation surface of the workpiece according to a Chinese character 'hui', namely, the tail end of the hybrid robot moves according to a Chinese character 'hui' spiral line, the distance information is recorded through software of a control device, the distance information is converted into spatial point information through a conversion matrix, the spatial point information is subjected to related algorithm processing, vector characteristics of the surface and pose information of the workpiece are obtained, and therefore characteristic points of the workpiece are obtained. Thus, the precise operation is convenient to realize. When the irradiation-resistant nuclear emergency dismantling robot reaches an initial operation position, an operator remotely starts the hybrid robot and the laser sensor, detects the surface of an operation object (namely a workpiece), and obtains the accurate coordinate of the operation object (namely the workpiece) through software calculation, so that the accurate positioning operation of the operation object is completed.

In this embodiment, the quick-change coupling comprises a rotary chuck for holding the milling or sawing tool and a drive device for driving the rotary chuck to clamp and unclamp the milling or sawing tool, so as to enable quick change of the end tool.

The driving device comprises a pneumatic main shaft, a chuck air inlet pipe and a chuck air outlet pipe which are used for supplying air and discharging air to the rotary chuck, and a control valve which is used for controlling the on-off of the chuck air inlet pipe and the chuck air outlet pipe, wherein the pneumatic main shaft is fixedly connected to the mechanical arm, the rotary chuck is arranged at the tail end of the pneumatic main shaft, the control valve is arranged on the pneumatic main shaft, and the control valve is connected with the chuck air inlet pipe and the chuck air outlet pipe and used for controlling the on-off of the chuck air inlet pipe and the chuck air outlet pipe, so.

The rotating chuck comprises a plurality of clamping plates with elasticity, the clamping plates are arranged around the axis of the rotating chuck, and a gap is reserved between every two adjacent clamping plates, so that the clamping plates can be close to or far away from each other.

When the control valve controls the air inlet of the chuck air inlet pipe, the clamping plates are mutually close to each other under the extrusion of air, and the milling cutter or the sawing cutter is clamped; when the control valve controls the chuck air outlet pipe to discharge air out, the air in the rotary chuck is led out, the plurality of clamping plates are deformed again, and therefore the plurality of clamping plates are far away from each other, and the milling cutter or the sawing cutter is loosened.

Preferably, the robot arm assembly further comprises a cooling device for cooling the end tool, the cooling device comprises a cooling tank 428 containing cooling liquid, an air pump for supplying air to the cooling tank 428, and a cooling spray pipe assembly communicated with a liquid outlet of the cooling tank 428, the cooling tank 428 and the air pump are both arranged on the mobile chassis, and the air pump is communicated with the cooling tank 428 for supplying air into the cooling tank 428, so that the air is mixed with the cooling liquid, and the cooling liquid is sprayed out from the cooling spray pipe assembly to cool the end tool.

It should be noted that, an electromagnetic valve is disposed at the outlet of the cooling tank 428 for controlling the on-off of the outlet of the cooling tank 428, thereby controlling the liquid outlet.

Here, a cooling nozzle assembly is provided above the quick change coupler to facilitate cooling of the end tool.

Wherein, cooling nozzle subassembly is including milling cooling spray tube and saw cutting cooling spray tube, and the export of milling cooling spray tube is towards milling cutter setting, and the export of saw cutting cooling spray tube is towards saw cutting cutter, like this, is convenient for to milling cutter and saw cutting cutter injection coolant liquid.

In this embodiment, the hybrid robot includes a parallel robot arm and a robot hand 38, the parallel robot arm is rotatably connected to the fixed frame 32 so that the parallel robot arm can rotate relative to the fixed frame 32, the robot hand 38 is installed at the end of the parallel robot arm so that the robot hand 38 moves or rotates synchronously with the parallel robot arm, and an end tool is detachably connected to the robot hand 38 so as to facilitate work.

The parallel robot arm has three degrees of freedom, and the manipulator 38 has two degrees of freedom, so that the parallel robot has five degrees of freedom; and the hybrid robot is enabled to increase one degree of freedom through the rotation motion of the hybrid robot relative to the moving chassis, so that the hybrid robot can obtain six degrees of freedom to realize the movement or rotation of the tail end tool in space and plane, and the track and the posture of the tail end tool can be accurately controlled, so that the operation is more accurate.

In another preferred aspect of this embodiment, the parallel robot arm includes a parallel main shaft 33, a first sub-shaft assembly 34, a second sub-shaft assembly 35, a third sub-shaft assembly 36, and a movable platform 37, where the parallel main shaft 33, the first sub-shaft assembly 34, the second sub-shaft assembly 35, and the third sub-shaft assembly 36 are all rotatably connected to the fixed frame 32, the movable platform 37 is fixedly connected to the end of the parallel main shaft 33, the ends of the first sub-shaft assembly 34, the second sub-shaft assembly 35, and the third sub-shaft assembly 36 are all rotatably connected to the movable platform 37, the first sub-shaft assembly 34 and the second sub-shaft assembly 35 are respectively located on two sides of the parallel main shaft 33, and the third sub-shaft assembly 36 is located below the parallel. And the parallel main shaft 33 is slidably connected with the fixed frame 32 so that the parallel main shaft 33 can slide relative to the fixed frame 32, and the first sub-shaft assembly 34, the second sub-shaft assembly 35 and the third sub-shaft assembly 36 are all of telescopic structures. In this way, the parallel robot arms can be made to have three degrees of freedom.

Specifically, when the first sub-shaft assembly 34 and the second sub-shaft assembly 35 are synchronously stretched and contracted, the movable platform 37 can move back and forth; when the first auxiliary shaft assembly 34 extends and the second auxiliary shaft assembly 35 retracts or the first auxiliary shaft assembly 34 retracts and the second auxiliary shaft assembly 35 extends, the movable platform 37 can move left and right; when the third sub-shaft assembly 36 is telescopically engaged with the first sub-shaft assembly 34 and the second sub-shaft assembly 35, the movable platform 37 can be moved up and down, so that the parallel mechanical arm has three degrees of freedom.

The robot hand 38 is mounted on the movable platform 37, and three degrees of freedom of the parallel robot arm and two degrees of freedom of the robot hand 38 are superimposed, so that the hybrid robot has five degrees of freedom.

In this embodiment, the parallel main shaft 33, the first sub-shaft assembly 34 and the second sub-shaft assembly 35 are rotatably connected to the fixed frame 32 through the first rotating bracket 39, and the third sub-shaft assembly 36 is rotatably connected to the fixed frame 32 through the second rotating bracket 310, so that the parallel mechanical arms can rotate up and down relative to the fixed frame 32.

The parallel main shaft 33 can slide relative to the first rotating bracket 39, so that the parallel main shaft 33 cooperates with the first sub-shaft assembly 34, the second sub-shaft assembly 35 and the third sub-shaft assembly 36 to realize the front-back, up-down and left-right movement of the movable platform 37.

In order to realize that the parallel main shaft 33 can slide relative to the fixed frame 32, the parallel main shaft 33 is connected with the first rotating bracket 39 through the ball hinge 323 so as to realize the rotatable connection between the parallel main shaft 33 and the first rotating bracket 39, wherein, the parallel main shaft 33 is arranged in the ball hinge 323, a groove is arranged in the ball hinge 323, a slide rail 324 is arranged on the parallel main shaft 33, the slide rail 324 extends along the axial direction of the parallel main shaft 33, the slide rail 324 can be embedded in the groove and can slide relatively, thereby realizing the rotation of the parallel main shaft 33 relative to the first rotating bracket 39 and the sliding of the parallel main shaft 33 relative to the first rotating bracket 39.

The first sub-shaft assembly 34 and the second sub-shaft assembly 35 are rotatably connected to the first rotating bracket 39 through connecting shafts, and the third sub-shaft assembly 36 is rotatably connected to the second rotating bracket 310 through hooke joints, so as to drive the movable platform 37 to move.

Specifically, each of the first sub-shaft assembly 34, the second sub-shaft assembly 35, and the third sub-shaft assembly 36 includes a push rod 318, an outer tube 317, a ball screw for controlling the extension and retraction of the push rod 318, and a push motor 316 for controlling the ball screw, a second end of the push rod 318 is connected to the movable platform 37, the outer tube 317 is sleeved outside the push rod 318, the outer tube 317 is connected to the fixed frame 32, the push motor 316 is disposed on the outer tube 317, an output shaft of the push motor 316 is in transmission connection with the ball screw of the ball screw for driving the ball screw to rotate, and a first end of the push rod 318 is connected to a nut of the ball screw for enabling the push rod 318 to move along the ball screw, so as to implement a.

It should be noted that the outer tube 317 of the first countershaft assembly 34 and the outer tube 317 of the second countershaft assembly 35 are both rotatably connected to the first rotating bracket 39, and the outer tube 317 of the third countershaft assembly 36 is rotatably connected to the second rotating bracket 310. The pushing motor 316 is a dc servo motor with a small volume and is fixed at the front end of the outer tube 317 (i.e. the end far away from the movable platform 37), so that the structure is more compact, the rotational inertia of the system is reduced, and the rigidity and the motion stability of the driving link are enhanced.

Here, the second ends of the push rods 318 of the first, second and third sub-axle assemblies 34, 35, 36 are all connected to the movable platform 37 by hooke joints. And the hook hinge is set to be a T-shaped structure, so that the coaxiality of the movable platform 37 and the hook hinge assembling hole is guaranteed.

In this embodiment, the robot 38 includes a connecting seat 311 and a connecting head 312, the connecting seat 311 is rotatably connected to the movable platform 37, the connecting head 312 is rotatably connected to the connecting seat 311, and the end tool is detachably mounted on the connecting head 312. In this manner, the robot 38 is provided with two degrees of freedom, so that the attitude of the end tool can be controlled for precise work.

Preferably, the robot arm assembly further includes a rotating motor 322 for driving the robot arm 38 to rotate, the rotating motor 322 is disposed in the movable platform 37, so that the structure is compact and the distance between the robot arm 38 and the movable platform 37 is reduced, and the rotating motor 322 is further connected with a speed reducer, which is connected with the robot arm 38 to reduce the rotating speed, so that the rotating motor 322 is directly connected with the speed reducer to output a torque to drive the robot arm 38 to rotate, thereby reducing the mass of the movable platform 37, reducing the bending moment of the end tool on the movable platform 37 during the operation of the robot arm assembly, and facilitating to improve the relative rigidity of the movable platform 37.

In this embodiment, the manipulator 38 further includes a driving assembly for driving the connection head 312 to rotate, the driving assembly includes a motor fixedly disposed on the connection seat 311, a driving wheel 313 disposed on an output shaft of the motor, a driven wheel 314 connected to the connection head 312, and a transmission belt 315 for connecting the driving wheel 313 and the driven wheel 314, the connection head 312 is rotatably connected to the connection seat 311 through a rotation shaft, and the driven wheel 314 is fixedly disposed at one end of the rotation shaft, so as to drive the rotation shaft to rotate, thereby driving the connection head 312 to rotate.

Some examples 3

In some embodiments, as shown in fig. 3 to 5, the mobile chassis includes a mobile platform 11, a crawler 12 and leveling legs 13, wherein the mobile platform 11 is used for carrying and supporting other structures of the irradiation-resistant nuclear emergency dismantling robot, such as a power assembly and a mechanical arm; the crawler traveling devices 12 are arranged in two numbers and are respectively connected to the left side and the right side of the mobile platform 11, and the mobile platform 11 is driven to move through the crawler traveling devices 12, so that the mobile chassis is good in traction and adhesion performance, large in traction force and good in stability, and has better performance when used on sloping fields, heavy fields, wet lands and sandy lands.

The leveling supporting legs 13 are at least three and are distributed on the periphery of the mobile platform 11, when the robot travels, the leveling supporting legs 13 are folded, the crawler walking device 12 supports the mobile platform 11, when the irradiation-resistant nuclear emergency disassembling robot needs to work, the leveling supporting legs 13 are put down and support the base, stable support is further formed around the mobile platform 11, and the mobile platform is prevented from being stressed and inclined to overturn.

And, the lower end of each leveling leg 13 is provided with a leveling sensor 14 for sensing the supporting pressure between the leveling leg 13 and the supporting ground, the leveling leg 13 is communicably connected with the leveling sensor 14 and adjusts the telescopic length of the leveling leg 13 according to the sensing value of the leveling leg 13, and here, the leveling leg 13 and the leveling sensor 14 can be connected and controlled through a core control component. When the pressure sensed by the leveling supporting legs 13 is small, the supporting length of the leveling supporting legs 13 is properly increased, and when the pressure sensed by the leveling supporting legs 13 is large, the supporting length of the leveling supporting legs 13 is properly reduced, so that the movable base can be suitable for various uneven road surfaces by self-adaptively leveling the supporting legs 13, and the irradiation-resistant nuclear emergency dismantling robot is guaranteed to be stable in working.

Here, the leveling legs 13 may be provided as a telescopic structure, specifically, a structure that a motor drives a screw nut, or may be in the form of a hydraulic cylinder or a pneumatic cylinder; the leveling sensor 14 is a pressure sensor, but of course, a support base may be provided at the lower end of the leveling leg 13 to increase the contact area with the ground, and the pressure sensor is provided between the leveling leg 13 and the support base to sense the pressure therebetween.

The mobile chassis further comprises a first laser radar 16, a second laser radar 17 and a core control component, wherein the first laser radar 16 is provided with a plurality of laser radars which are distributed on the periphery of the mobile platform 11 and used for acquiring obstacle avoidance information, and the obstacle avoidance information is obstacle information around the mobile platform so as to facilitate the mobile chassis to avoid obstacles during traveling; the second laser radar 17 is disposed at the front side of the mobile platform 11 and is configured to obtain environment information, where the environment information is environment information of a traveling route at the front side of the mobile chassis, so that the mobile chassis travels according to an actual environment.

Specifically, first laser radar 16 sets up to solid-state laser radar, and solid-state laser radar is provided with five and distributes in the rear side and the left and right sides of moving platform 11, and solid-state laser radar has high sensitivity's characteristics, can in time acquire and keep away barrier information, makes and keeps away the barrier action. The second lidar 17 is configured as a multi-line lidar capable of simultaneously emitting and receiving multiple beams of laser light, thereby rapidly acquiring a 3D scanogram of the surrounding environment.

The first laser radar 16, the second laser radar 17 and the crawler traveling device 12 are in communication connection with the core control component, and in the moving process of the moving chassis, the core control component controls the crawler traveling device 12 to execute obstacle avoidance action according to obstacle avoidance information acquired by the first laser radar 16, so that collision between the moving chassis and an obstacle can be prevented, and equipment damage and time delay are avoided; and the core control component constructs an environment map according to the environment information acquired by the second laser radar 17, so that the mobile chassis can conveniently advance and support according to the road condition of the environment map, and simultaneously the core control component determines the coordinate of the mobile chassis in the environment map according to the mileage information of the crawler traveling device 12, so that the laser positioning navigation of the real-time road condition is realized, and the laser positioning navigation is beneficial for the working personnel to remotely acquire the environment information and formulate emergency routes and measures.

It should be noted that the real-time road condition is obtained by constructing an environment map, and the stopping position of the mobile chassis can be determined, so as to ensure the stable stopping position of the mobile chassis, and meanwhile, the leveling support legs 13 which are supported in a self-adaptive manner are matched to keep further stable and reliable.

So set up, through leveling landing leg 13 to the self-adaptation support of moving platform 11 to through constructing environment map automatic navigation route of marcing, can make the emergent robot of disassembling of resistant irradiation nuclear accurately carry out long-range emergent processing work at the road conditions of various unevenness high-efficiently, and then promote the efficiency of rescue, it is good to advance the in-process adhesion simultaneously, and stability is strong.

In this embodiment, the movable base further comprises an irradiation-resistant cavity 15, wherein the irradiation-resistant cavity 15 is arranged in the middle of the movable platform 11, and the irradiation-resistant cavity has better irradiation-resistant performance, and the core control component is arranged in the irradiation-resistant cavity 15, so that interference and damage to a control system caused by external nuclear radiation can be prevented, and further, the service life and the stability can be favorably prolonged.

In some embodiments, the front end of the crawler 12 is inclined upward and forms an inclination angle of 25-32 degrees with the horizontal direction, and when the moving chassis travels forward, the contact area of the crawler is increased in the transition process from a plane to a slope, so that the climbing capacity can be improved well. Specifically, the front end inclination angle of the crawler 12 may be set to 30 degrees.

Here, the crawler traveling apparatus includes a traveling frame 121, a driving wheel 122, a guide wheel 123, and a crawler, wherein the traveling frame 121 is fixed to left and right sides of the moving platform 11; the guide wheel 123 and the driving wheel 122 are respectively located at the front end and the rear end of the walking frame 121, the track is wrapped on the periphery of the guide wheel 123, the driving wheel 122 and the walking frame 121, and the track is driven to surround along the periphery of the walking frame 121 through rotation of the driving wheel 122, so that the walking is realized. Wherein, the guide wheel 123 is higher than the walking frame 121 and the driving wheel 122, so that a part of the caterpillar band at the front end is tilted upwards and forms an included angle with the horizontal plane, thereby ensuring the climbing capability.

Particularly, the crawler belt is arranged as the rubber crawler belt, so that a good contact effect with the ground is guaranteed, and the friction force of the transition process of the crawler belt from a plane to a slope is increased by matching with the design of the front inclined angle, so that the integral traveling performance of the movable base is improved.

The driving wheel 122 adopts a chain wheel structure, so that the track pin can smoothly enter and exit, the impact of a contact surface is reduced, the contact stress of the tooth surface meets the requirement, the abrasion is reduced, and the track can still work without dropping a chain when the pitch of the track is increased due to the abrasion.

In some embodiments, the mobile platform 11 is a lightweight support structure and is composed of a plurality of struts connected in a transverse and longitudinal manner, so that the overall weight of the mobile base can be reduced, the energy consumption of traveling is reduced, and the working time of the irradiation-resistant nuclear emergency dismantling robot is prolonged to the greatest extent.

In some preferred schemes, two groups of leveling supporting legs 13 are arranged and are respectively arranged at the front side and the rear side of the mobile platform 11, so that the crawler travelling device is matched with the leveling base, and the front side, the rear side, the left side and the right side of the mobile platform 11 are supported, so that the stability of the mobile base is further improved.

Furthermore, each group of leveling bases is provided with two leveling bases and arranged at intervals, namely the four leveling bases are respectively positioned at four corners of the mobile platform 11, and the four corners support the height of the mobile platform 11, so that the mobile platform is suitable for different working environments.

It should be noted that the terms "first," "second," and the like, as used herein, are not intended to limit the specific order, but merely to distinguish one element or function from another. The stated horizontal, vertical, up, down, left and right are indicated when the irradiation-resistant nuclear emergency dismantling robot based on the battery power is in a natural placing state.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

It is understood that the same or similar parts in the above embodiments may be mutually referred to, and the same or similar parts in other embodiments may be referred to for the content which is not described in detail in some embodiments. The multiple schemes provided by the application comprise basic schemes of the schemes, are independent of each other and are not restricted to each other, but can be combined with each other under the condition of no conflict, so that multiple effects are achieved together.

While embodiments of the present application have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present application, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.

Claims (10)

1. The robot is characterized by comprising a mobile chassis, and a mechanical arm assembly and a power assembly which are connected to the mobile chassis, wherein the power assembly comprises a battery pack (21) and a pressure pump (22) which is positioned between the battery pack (21) and the mechanical arm assembly, the pressure pump (22) is electrically connected with the battery pack (21), and the pressure pump (22) is connected with the mechanical arm assembly through a pipeline and drives the mechanical arm assembly to move.

2. The battery-powered irradiation-resistant nuclear emergency dismantling robot according to claim 1, characterized in that a cushion block (25) is provided between said pressure pump (22) and said mobile chassis.

3. The battery power-based irradiation-resistant nuclear emergency dismantling robot according to claim 2, wherein the power assembly further comprises a pressure tank (23) between the battery pack (21) and the mechanical arm assembly, and the pressure pump (22) is connected with the pressure tank (23) through a pipeline.

4. The battery-powered radiation-resistant nuclear emergency disassembly robot according to claim 3, wherein the power assembly comprises a mounting bracket, and the cushion block (25) is arranged between the pressure pump (22) and the mounting bracket.

5. The battery power-based irradiation-resistant nuclear emergency dismantling robot according to claim 4, wherein the mounting bracket is provided with mounting positions for accommodating the battery pack (21), the pressure pump (22) and the pressure tank (23), and the pressure pump (22) is located above the pressure tank (23).

6. The battery-powered irradiation-resistant nuclear emergency disassembly robot according to claim 1, wherein the pressure pump (22) and the pressure tank (23) are respectively provided as an air pump and an air tank.

7. The battery-powered irradiation-resistant nuclear emergency disassembly robot according to claim 1, wherein the battery pack (21) is configured as a UPS battery.

8. The battery-powered irradiation-resistant nuclear emergency dismantling robot according to claim 4, wherein a tool magazine (24) is disposed above the mounting bracket, a terminal tool quick-change device is disposed on the mechanical arm assembly, a milling tool storage module and a sawing tool storage module are disposed on the tool magazine (24), a plurality of milling tools are stored in the milling tool storage module, a plurality of sawing tools are stored in the sawing tool storage module, the plurality of milling tools are different in size, the plurality of sawing tools are different in size, and the terminal tool quick-change device comprises a rotary chuck for holding the milling tool or the sawing tool and a driving device for controlling the rotary chuck to clamp and unclamp.

9. The battery-powered irradiation-resistant nuclear emergency dismantling robot according to claim 8, wherein the robot arm assembly comprises a fixed frame rotatably connected with the mobile chassis and a hybrid robot mounted on the fixed frame, a terminal tool is detachably mounted at the terminal of the hybrid robot through a quick-change connector, and the terminal tool comprises at least the milling cutter and the sawing cutter.

10. The battery-powered irradiation-resistant nuclear emergency dismantling robot as claimed in claim 1, wherein the mobile chassis comprises a mobile platform, crawler traveling devices located on the left and right sides of the mobile platform, at least three leveling legs distributed on the periphery of the mobile platform and used for supporting the mobile platform, a first laser radar distributed on the periphery of the mobile platform and used for acquiring obstacle avoidance information, a second laser radar located on the front side of the mobile platform and used for acquiring environmental information, and a core control component, wherein a leveling sensor used for sensing support pressure is arranged at the lower end of each leveling leg, and the leveling legs are communicably connected with the leveling sensors and adjust the support lengths of the leveling legs according to the sensing values of the leveling legs; the first laser radar, the second laser radar and the crawler traveling device are in communication connection with the core control component, the core control component controls the crawler traveling device to execute obstacle avoidance actions according to obstacle avoidance information acquired by the first laser radar, the core control component constructs an environment map according to environment information acquired by the second laser radar, and determines coordinates of the crawler traveling device in the environment map according to mileage information of the crawler traveling device.

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