CN206623094U - A kind of Radiation monitoring robot architecture - Google Patents
A kind of Radiation monitoring robot architecture Download PDFInfo
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- CN206623094U CN206623094U CN201720103445.1U CN201720103445U CN206623094U CN 206623094 U CN206623094 U CN 206623094U CN 201720103445 U CN201720103445 U CN 201720103445U CN 206623094 U CN206623094 U CN 206623094U
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Abstract
The utility model discloses a kind of Radiation monitoring robot architecture, including fuselage, it is arranged on the radiation detector and two crawler type walking mechanisms for being separately positioned on fuselage both sides of fuselage bottom, and it is separately positioned on the industrial computer and mechanical arm of fuselage rear and front end, fuselage includes low bottom-disc and two side plates, position on low bottom-disc between biside plate and side plate length direction is provided with multiple dividing plates, the side of mechanical arm is provided with head and antenna, and high-definition image detector and infrared image detection device are provided with head；Crawler type walking mechanism includes crawler belt and two driving wheels and multiple belt wheels, belt wheel is arranged on the bottom of side plate by damping device, the alignment system being connected with industrial computer, avoiding obstacles by supersonic wave module is integrated with control mainboard and for the wireless transport module with remote control terminal radio communication.The utility model is equipped with damping device using bilevel airframe structure and ensures that robot advances steadily, adapts to environment complicated and changeable.
Description
Technical field
The utility model belongs to robot probe's technical field, and in particular to a kind of Radiation monitoring robot architecture.
Background technology
Nuclear energy has extensive and great influence to military affairs, economy, society, politics etc., and nuclear energy can be used as nuclear weapon, be used in combination
In the power source of aircraft carrier, nuclear submarine etc.；Nuclear energy can be with substitute fossil fuels, for generating electricity；Radioactive source application can be used as
In medical treatment；It can also be city heat supply etc., receive the attention of countries in the world.But nuclear radiation meeting pair caused by radioactive element
Human body causes huge injury, or even can directly threaten the life security of relevant staff.Therefore, Radiation monitoring robot
Use have particularly important meaning.Radiation monitoring robot is the widely used robot in nuclear power station.At present mostly
Number Radiation monitoring robot is using wheel or crawler belt, or the walking manner that wheel and crawler belt are combined, only a small number of machines
Device people uses polypody or two sufficient walking manners.Due to radiation, monitoring radiation dose rate closely has certain danger
Property, in order to realize the far distance controlled to radiation detection robot, Radiation monitoring robot is generally equipped with multiple sensors, spoke
Penetrating monitoring robot has various sensor devices.Existing Radiation monitoring robot typically all carries illuminating lamp, takes the photograph
Camera and navigation equipment, Radiation monitoring robot are to apply the specialized robot under radiation environment, and the task of robot is not
In the task that the assigned position of production line completes to have arranged properly, what it to be completed is the work of the indefinite varied change in position
Make, and existing She He areas, often due to falling into disuse for many years, physical features is complicated, and robot can run into the ground of various situations in the process of moving
Gesture, environment complicated and changeable is adapted to, various Gesture operation mechanical arms can be done and have fabulous adaptability to changes to hazardous environment, from
The adverse circumstances for adapting to nuclear radiation are the existing Radiation monitoring robot difficulties to be overcome.
Utility model content
Technical problem to be solved in the utility model is to be directed to above-mentioned deficiency of the prior art, there is provided one kind radiation
Monitoring robot structure, it is novel in design rationally, and being equipped with damping device using bilevel airframe structure ensures robot row
Enter steadily, the acquisition function of radiation dose rate is realized by remote control robot, and according to actual field environment, pass through machine
People's autonomous induction makes actual judgement, adapts to environment complicated and changeable, is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of Radiation monitoring robot architecture,
It is characterized in that：Including fuselage, it is arranged on the radiation detector and two crawler belts for being separately positioned on fuselage both sides of fuselage bottom
Formula walking mechanism, and the industrial computer and mechanical arm of fuselage rear and front end are separately positioned on, fuselage includes low bottom-disc and two points
Not An Zhuan low bottom-disc both sides side plate, position on low bottom-disc between biside plate and be provided with along side plate length direction more
Individual dividing plate, multiple dividing plates respectively constitute battery bay, sample cabin and for placing control mainboard with low bottom-disc and side plate
The active motor of mainboard cabin, and two active motor cabins for being located at low bottom-disc both ends respectively, battery bay and low bottom-disc one end
Cabin is adjacent, and the active motor cabin of mainboard cabin and the low bottom-disc other end is adjacent, and battery bay, mainboard cabin and active motor cabin pass through
Top bottom-disc encapsulates；Radiation detector is arranged on bottom tray bottom by lifting device, and mechanical arm is mounted on front fuselage
On top bottom-disc, the side of mechanical arm is provided with head and antenna, and high-definition image detector and infrared figure are provided with the head
As detector；
The crawler type walking mechanism includes crawler belt and two driving wheels for driven pedrail operation and multiple belt wheels,
Two driving wheels pass through two active motor drive module setting both ends at the top of side plate, two active motor drivings respectively
Module is respectively protruding into two to be located in the active motor cabin at low bottom-disc both ends respectively, and belt wheel is arranged on side plate by damping device
Bottom, the damping device include support connector, for support connector one end slide chute and with it is described support connect
One end of fitting is fixedly connected and is sleeved on the spring of chute one end, and chute is arranged on side plate, in the support connector
Portion is fixedly mounted on side plate by rotating shaft, and belt wheel is connected to the other end of the support connector, belt wheel by belt wheel rotating shaft
It is in contact with driving wheel with the inner surface of crawler belt；
Be integrated with the control mainboard alignment system being connected with industrial computer, avoiding obstacles by supersonic wave module and for it is remote
The wireless transport module of process control terminal wireless communication, high-definition image detector, infrared image detection device, radiation detector and institute
Active motor drive module is stated with industrial computer to connect.
A kind of above-mentioned Radiation monitoring robot architecture, it is characterised in that：It is also integrated with the control mainboard for cutting
High-definition image detector or the relay of infrared image detection device work are changed, the relay is single-pole double-throw relay, described
The coil control terminal of single-pole double-throw relay is controlled by industrial computer, and the storage of the promising control mainboard power supply is set in battery bay
Battery, the mechanical arm drive module for driving mechanical arm lifting, flexible, rotation and folding is provided with top bottom-disc, and radiation is visited
Survey device is flow-gas proportional counter, and the rear end of the flow-gas proportional counter is provided with detector inlet end, the gas
The front end of formula proportional counter is provided with detector outlet side.
A kind of above-mentioned Radiation monitoring robot architecture, it is characterised in that：Dismountable examination is provided with the sample cabin
Sample box, sample chamber spaced apart from each other is provided with the sample box, does not sample the first clothing issue room and use of absorbent cotton for depositing
The second clothing issue room of absorbent cotton after storage samples.
A kind of above-mentioned Radiation monitoring robot architecture, it is characterised in that：The wireless transport module passes through antenna and institute
State remote control terminal and carry out radio communication.
A kind of above-mentioned Radiation monitoring robot architecture, it is characterised in that：The mechanical arm includes the machinery being sequentially connected
Arm member one, arm segments two, arm segments three and arm segments four, gripper is installed on arm segments four,
The mechanical arm drive module includes the first mechanical arm drive module flexible for control machinery arm member one, for control machine
The first mechanical arm drive module of the rotation of tool arm member two, the three-mechanical arm driving mould lifted for control machinery arm member three
Block and the 4th mechanical arm drive module for controlling the gripper folding, the first mechanical arm drive module, the second machine
Tool arm drive module, three-mechanical arm drive module and the 4th mechanical arm drive module are step motor control module.
A kind of above-mentioned Radiation monitoring robot architecture, it is characterised in that：The chute is arc chute.
A kind of above-mentioned Radiation monitoring robot architecture, it is characterised in that：The alignment system include GPS locators and
BEI-DOU position system.
The utility model has advantages below compared with prior art：
1st, the utility model compares small volume for large radiation monitoring robot, and narrow regions can be detected,
Caterpillar type robot monitoring of environmental radiation regimes are used simultaneously, for multiple bottom belt wheels installed in caterpillar type robot side plate point
Other installation settings has damping device, each belt wheel is worked independently, and plays the effect of damping successively, the real-time held stationary of fuselage,
The landform adaptability of caterpillar type robot is enhanced, using effect is good, is easy to promote the use of.
2nd, the utility model fuselage uses bilevel structure, and top bottom-disc top is provided with multiple dividing plates by fuselage upper strata
Multiple functional areas are divided into, save space, and avoid interference of the external electromagnetic signal to control mainboard；Top bottom-disc bottom
The radiation detector that can be moved up and down is installed, accurately quickly detects the radiation dose rate of radiation areas to be measured, radiation detection
Device efficiency is relevant with its height of lower surface far from ground, and radiation detector lower surface is bigger away from the nearlyer detection efficient of earth's surface, on the contrary
It is smaller, to strengthen the landform adaptability of robot, employ the adjustable radiation detector design of terrain clearance, robot
It can be adjusted according to the actual conditions of earth's surface, it is flexibly convenient.
3rd, the utility model receives and dispatches control signal by antenna wireless, and radiation dose rate is realized by remote control robot
Acquisition function, be easy to promote the use of.
In summary, the utility model is novel in design rationally, and being equipped with damping device using bilevel airframe structure protects
Demonstrate,prove robot to advance steadily, the acquisition function of radiation dose rate is realized by remote control robot, and according to actual field ring
Border, actual judgement is made by robot autonomous induction, adapt to environment complicated and changeable, be easy to promote the use of.
Below by drawings and examples, the technical solution of the utility model is described in further detail.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of the utility model fuselage.
Fig. 3 is use state figure of the utility model belt wheel on flat ground.
Fig. 4 is use state figure of the utility model belt wheel on projection can clear the jumps.
Fig. 5 is use state figure of the utility model belt wheel on depression can clear the jumps.
Description of reference numerals:
1-industrial computer；2-1-arm segments one；2-2-arm segments two；
2-3-arm segments three；2-4-arm segments four；3-fuselage；
3-1-top bottom-disc；3-2-low bottom-disc；3-3-side plate；
3-4-active motor cabin；3-5-battery bay；3-6-sample chamber；
3-7-mainboard cabin；The clothing issue rooms of 3-8-first；The clothing issue rooms of 3-9-second；
4-high-definition image detector；5-infrared image detection device；6-detector outlet side；
7-crawler belt；8-belt wheel；9-support connector；
10-spring；11-chute；12-radiation detector；
13-lifting device；14-driving wheel；15-antenna；
16-rotating shaft；17-ground；18-barrier.
Embodiment
As depicted in figs. 1 and 2, the utility model includes fuselage 3, is arranged on the radiation detector 12 and two of the bottom of fuselage 3
It is individual to be separately positioned on the crawler type walking mechanism of the both sides of fuselage 3, and it is separately positioned on the He of industrial computer 1 of the rear and front end of fuselage 3
Mechanical arm, fuselage 3 includes low bottom-disc 3-2 and two side plate 3-3 for being separately mounted to low bottom-disc 3-2 both sides, low bottom-disc 3-2 are upper
Position between biside plate 3-3 and side plate 3-3 length directions are provided with multiple dividing plates, the multiple dividing plates and low bottom-disc
3-2 and side plate 3-3 respectively constitutes battery bay 3-5, sample cabin and the mainboard cabin 3-7 for placing control mainboard, and two
Respectively positioned at the active motor cabin 3- of active motor cabin 3-4, battery bay 3-5 and low bottom-disc the 3-2 one end at low bottom-disc 3-2 both ends
4 is adjacent, and the active motor cabin 3-4 of mainboard cabin 3-7 and the low bottom-disc 3-2 other ends is adjacent, battery bay 3-5, mainboard cabin 3-7 and
Active motor cabin 3-4 is encapsulated by top bottom-disc 3-1；Radiation detector 12 is arranged on low bottom-disc 3-2 bottoms by lifting device 13
Portion, mechanical arm are mounted on the top bottom-disc 3-1 of the front end of fuselage 3, and the side of mechanical arm is provided with head and antenna 15, described
High-definition image detector 4 and infrared image detection device 5 are installed on head；
The crawler type walking mechanism includes crawler belt 7 and two driving wheels 14 and multiple run for driven pedrail 7
Belt wheel 8, two driving wheels 14 respectively by two active motor drive module settings at the top of side plate 3-3 both ends, described in two
Active motor drive module is respectively protruding into two to be located in the active motor cabin 3-4 at low bottom-disc 3-2 both ends respectively, and belt wheel 8 is logical
The bottom that damping device is arranged on side plate 3-3 is crossed, the damping device includes support connector 9, one for support connector 9
Hold the chute 11 slided and be fixedly connected with one end of the support connector 9 and be sleeved on the spring 10 of the one end of chute 11, it is sliding
Groove 11 is arranged on side plate 3-3, and the middle part of the support connector 9 is fixedly mounted on side plate 3-3 by rotating shaft 16, belt wheel 8
The other end of the support connector 9, the inner surface phase of belt wheel 8 and driving wheel 14 with crawler belt 7 are connected to by belt wheel rotating shaft
Contact；
Be integrated with the control mainboard alignment system being connected with industrial computer 1, avoiding obstacles by supersonic wave module and for
The wireless transport module of remote control terminal radio communication, high-definition image detector 4, infrared image detection device 5, radiation detector
12 and the active motor drive module connect with industrial computer 1.
Caterpillar type robot collision free scene article, adaptive site environment are made using avoiding obstacles by supersonic wave module.
As shown in Fig. 2 in the present embodiment, dismountable sample box is provided with the sample cabin, is set in the sample box
Be equipped with sample chamber 3-6 spaced apart from each other, do not sampled for depositing absorbent cotton the first clothing issue room 3-8 and for deposit sample after take off
The second clothing issue room 3-9 of fat cotton.
In the present embodiment, fuselage uses bilevel structure, and top bottom-disc 3-1 tops are provided with multiple dividing plates by fuselage
Layer is divided into multiple functional areas, and actual functional capability area includes being used to deposit the battery bay 3-5 of battery, the examination for depositing sample
Sample cabin, the mainboard cabin 3-7 for placing control mainboard and two are located at the active motor cabin 3-4 at low bottom-disc 3-2 both ends respectively
Five parts, position on low bottom-disc 3-2 between biside plate 3-3 and side plate 3-3 length directions are provided with six dividing plates will
Low bottom-disc 3-2 edges are divided into five cabins along side plate 3-3 length directions, wherein, two dividing plates are located at low bottom-disc 3-2 both ends respectively
For blocking low bottom-disc 3-2 both ends, remaining four dividing plate stores according to the spacing between the actual size setting dividing plate for placing thing
Battery flat 3-5, mainboard cabin 3-7 and active motor cabin 3-4 are encapsulated by top bottom-disc 3-1, sample cabin top open-ended, be for
It is easy to the placement and taking-up of sample box, the height of actual samples box can be higher by the top bottom-disc 3-1 of fuselage, and convenient dismounting is described
Sample chamber 3-6 spaced apart from each other is provided with sample box, does not sample the first clothing issue room 3-8 of absorbent cotton and for depositing for depositing
The second clothing issue room 3-9 of absorbent cotton after sample is taken, because sampling is the article with radiation, the article with radiation is put
Radiant matter can be infected with itself to sample box by putting in sample box, and therefore, sample box can form disposable sample box or repeatedly
The sample box of reuse, when sample box is disposable sample box, detection mission of robot execution, which is changed, once to be tried
Sample box, it is convenient that the disposable sample box is changed；When sample box is the sample box repeatedly used, robot is performed and once visited
Survey task, which clears up a sample box, need to only take out sample box cleaning, without moving whole fuselage 3, improve the use effect of robot
Rate；
In the present embodiment, the chute 11 is arc chute.
In the present embodiment, the alignment system includes GPS locator and BEI-DOU position system.
Caterpillar type robot carries out real-time behaviortrace using GPS locator and BEI-DOU position system to its travel path.
In the present embodiment, the belt wheel 8 of multiple bottoms for being arranged on side plate 3-3 is equipped with for crawler belt 7, multiple belt wheels 8 are equidistant
And side plate 3-3 bottom is symmetrically installed on, each belt wheel 8 is provided with a damping device and is used to stablize caterpillar type robot
What is run into during advance jolts, and avoids sample in sample box from vibrating and drop in external fuselage, as shown in Fig. 3, Fig. 4 and Fig. 5,
Chute 11 is arranged on side plate 3-3, the arcuate directions of the arcuately chute of spring 10 is sleeved on chute 11, the one of spring 10
End is fixed on one end of chute 11, and one end of spring 10 is held within one end of the support connector 9 on chute 11, when
When the bottom surface 17 of traveling is flat, the spring 10 in each damping device is in nature elongation state, and multiple belt wheels 8 coordinate two masters
Driving wheel 14 drives crawler belt 7 to be driven；When there is the barrier 18 of projection on the bottom surface 17 of traveling, along crawler type machine in multiple belt wheels 8
First belt wheel 8 in device people's direction of advance initially encounters barrier 18, and first belt wheel 8 passes through the branch in its corresponding damping device
Support connector 9 16 lifts clockwise around the shaft, the extension spring 10 of support connector 9 in the damping device, and arc chute is branch
The stretching of support connector 9 provides drawing path, and the part of crawler belt 7 contacted with first belt wheel 8 is raised, now, first belt wheel 8
Belt wheel 8 afterwards keeps original travel condition to keep fuselage 3 steady, when first belt wheel 8 clear the jumps 18 after, first band
Wheel 8 recovers spring elongation state, and next belt wheel 8 repeats the obstacle detouring process of first belt wheel 8, now, before and after the belt wheel 8
Belt wheel 8 is in same travel condition and keeps fuselage 3 steady, and by that analogy, multiple belt wheels 8 obstacle detouring and work independently successively, more
It is independent of each other between individual belt wheel 8, keeps the plateau of fuselage 3 in real time；When the barrier 18 for having depression on the bottom surface 17 of traveling
When, barrier 18 is initially encountered along the first belt wheel 8 in caterpillar type robot direction of advance in multiple belt wheels 8, and first belt wheel 8 is logical
The support connector 9 crossed in its corresponding damping device 16 glides counterclockwise around the shaft, the support connector 9 in the damping device
Compression spring 10, arc chute is supports the compression of connector 9 to provide compressed path, the crawler belt 7 contacted with first belt wheel 8
Part sinks, and now, the belt wheel 8 after first belt wheel 8 keeps original travel condition to keep fuselage 3 steady, when first belt wheel
8 clear the jumps after 18, and first belt wheel 8 recovers spring elongation state, and next belt wheel 8 repeats the obstacle detouring process of first belt wheel 8,
Now, the belt wheel 8 before and after the belt wheel 8 is in same travel condition holding fuselage 3 steadily, by that analogy, keeps machine in real time
The plateau of body 3；The landform adaptability of caterpillar type robot is enhanced, using effect is good.
In the present embodiment, it is also integrated with the control mainboard and is visited for switching high-definition image detector 4 or infrared image
Survey the relay that device 5 works, the relay is single-pole double-throw relay, the coil control terminal of the single-pole double-throw relay by
Industrial computer 1 is controlled, and the battery of the promising control mainboard power supply is set in battery bay 3-5, use is provided with top bottom-disc 3-1
In the mechanical arm drive module of the lifting of driving mechanical arm, flexible, rotation and folding, radiation detector 12 is flow gas counter
Device, the rear end of the flow-gas proportional counter are provided with detector inlet end, and the front end of the flow-gas proportional counter is set
It is equipped with detector outlet side 6.
Radiation detector 12 is installed in top bottom-disc 3-1 bottoms, drives radiation detector 12 to move up and down by lifting device 13,
Radiation detector 12 uses flow-gas proportional counter, and the rear end of the flow-gas proportional counter is provided with detector air inlet
End, the front end of the flow-gas proportional counter are provided with detector outlet side 6, and flow-gas proportional counter is accurately quickly visited
The radiation dose rate of radiation areas to be measured is surveyed, flow-gas proportional counter efficiency is relevant with its height of lower surface far from ground, stream
Gas formula proportional counter lower surface is bigger away from the nearlyer detection efficient of earth's surface, otherwise smaller, and energy is adapted to strengthen the landform of robot
Power, employs the adjustable flow-gas proportional counter design of terrain clearance, and robot can be adjusted according to the actual conditions of earth's surface
Section.
In actual use, the coil control terminal of the single-pole double-throw relay is controlled by industrial computer 1, the single-pole double throw after
One fixed termination power supply of electrical equipment access circuit, normally opened contact and the normally-closed contact selection of the single-pole double-throw relay
Formula accesses circuit, and high-definition image detector 4 connects with the normally opened contact or normally-closed contact of the single-pole double-throw relay, infrared figure
As detector 5 connects with the normally-closed contact or normally opened contact of the single-pole double-throw relay, high-definition image detector 4 or red is realized
The outer switch type work of image detector 5, live realtime graphic is obtained, adapt to site environment, using effect is good.
In the present embodiment, the wireless transport module carries out radio communication by antenna 15 and the remote control terminal.
As shown in figure 1, in the present embodiment, the mechanical arm includes the 2-1 of arm segments one, the mechanical arm being sequentially connected
The 2-2 of part two, the 2-3 of arm segments three and the 2-4 of arm segments four, gripper is installed on the 2-4 of arm segments four, it is described
Mechanical arm drive module includes the first mechanical arm drive module flexible for the 2-1 of control machinery arm member one, for control machine
The first mechanical arm drive module of the 2-2 of tool arm member two rotations, the three-mechanical arm for the 2-3 of control machinery arm member three liftings
Drive module and the 4th mechanical arm drive module for controlling the gripper folding, the first mechanical arm drive module,
Second mechanical arm drive module, three-mechanical arm drive module and the 4th mechanical arm drive module are step motor control mould
Block.
In actual use, after caterpillar type robot detects radiant matter, industrial computer 1 controls first mechanical arm drive module to make
The 2-1 telescopic adjustments mechanical arm of arm segments one is far and near apart from radiant matter, and industrial computer 1 controls second mechanical arm drive module to make
The 2-2 of arm segments two rotates adjusting mechanical arm operating configurations, and industrial computer 1 controls three-mechanical arm drive module to make mechanical arm
The 2-3 lift adjustments mechanical arm of part three controls the 4th mechanical arm drive module to make arm segments apart from radiant matter height, industrial computer 1
Gripper width in four 2-4 folding adjusting mechanical arms, pass through the 2-1 of arm segments one, the 2-2 of arm segments two, mechanical arm
The collection of radiant matter is realized in the 2-3 of the part three and 2-4 of arm segments four cooperation.
In actual use, the industrial computer 1 on caterpillar type robot passes through the wireless transport module and the remote control
Terminal carries out radio communication, and using the signal transmitting and receiving of antenna 15, the remote control terminal is mobile phone terminal or terminal, hand
Machine terminal or terminal can the radiations of signal acquisition caterpillar type robot collection that transmit of wireless receiving industrial computer 1
Information, while mobile phone terminal or terminal can control caterpillar type robot walking path by the wireless transport module,
And record the position of all doubtful contaminants and image that caterpillar type robot is shot to the point, the examination that effector can be to fetching
Sample is further analyzed, further to study and to handle.
It is described above, only it is preferred embodiment of the present utility model, not the utility model is imposed any restrictions, every
Any simple modification, change and the equivalent structure change made according to the utility model technical spirit to above example, still
Belong in the protection domain of technical solutions of the utility model.
Claims (7)
- A kind of 1. Radiation monitoring robot architecture, it is characterised in that：Including fuselage (3), be arranged on fuselage (3) bottom radiation visit Survey device (12) and two are separately positioned on the crawler type walking mechanism of fuselage (3) both sides, and be separately positioned on before and after fuselage (3) The industrial computer (1) and mechanical arm at both ends, fuselage (3) includes low bottom-disc (3-2) and two are separately mounted to low bottom-disc (3-2) both sides Side plate (3-3), position on low bottom-disc (3-2) between biside plate (3-3) and be provided with along side plate (3-3) length direction Multiple dividing plates, multiple dividing plates respectively constitute battery bay (3-5), sample cabin and use with low bottom-disc (3-2) and side plate (3-3) In place control mainboard mainboard cabin (3-7), and two respectively be located at low bottom-disc (3-2) both ends active motor cabins (3-4), The active motor cabin (3-4) of battery bay (3-5) and low bottom-disc (3-2) one end is adjacent, mainboard cabin (3-7) and low bottom-disc (3-2) The active motor cabin (3-4) of the other end is adjacent, and battery bay (3-5), mainboard cabin (3-7) and active motor cabin (3-4) pass through Top bottom-disc (3-1) encapsulates；Radiation detector (12) is arranged on low bottom-disc (3-2) bottom, mechanical arm peace by lifting device (13) On the top bottom-disc (3-1) positioned at fuselage (3) front end, the side of mechanical arm is provided with head and antenna (15), the head On high-definition image detector (4) and infrared image detection device (5) are installed；The crawler type walking mechanism includes crawler belt (7) and two driving wheels (14) and more for driven pedrail (7) operation Individual belt wheel (8), two driving wheels (14) respectively by two active motor drive module settings at the top of the side plate (3-3) both ends, Two active motor drive modules are respectively protruding into two the active motor cabin (3- for being located at low bottom-disc (3-2) both ends respectively 4) in, belt wheel (8) is arranged on side plate (3-3) bottom by damping device, the damping device include support connector (9), The chute (11) that is slided for one end of support connector (9) and it is fixedly connected and is set with one end of the support connector (9) Spring (10) in chute (11) one end, chute (11) are arranged on side plate (3-3), and the middle part of the support connector (9) leads to Cross rotating shaft (16) to be fixedly mounted on side plate (3-3), belt wheel (8) is connected to the support connector (9) by belt wheel rotating shaft The other end, the inner surface of belt wheel (8) and driving wheel (14) with crawler belt (7) are in contact；Be integrated with the control mainboard alignment system being connected with industrial computer (1), avoiding obstacles by supersonic wave module and for it is remote The wireless transport module of process control terminal wireless communication, high-definition image detector (4), infrared image detection device (5), radiation detection Device (12) and the active motor drive module connect with industrial computer (1).
- 2. according to a kind of Radiation monitoring robot architecture described in claim 1, it is characterised in that：Also collect in the control mainboard Into the relay having for switching high-definition image detector (4) or infrared image detection device (5) work, the relay is hilted broadsword Double-throw relay, the coil control terminal of the single-pole double-throw relay are controlled by industrial computer (1), set in battery bay (3-5) The battery of promising control mainboard power supply, it is provided with for driving mechanical arm lifting, flexible, rotation on top bottom-disc (3-1) And the mechanical arm drive module of folding, radiation detector (12) are flow-gas proportional counter, the flow-gas proportional counter Rear end be provided with detector inlet end, the front end of the flow-gas proportional counter is provided with detector outlet side (6).
- 3. according to a kind of Radiation monitoring robot architecture described in claim 1, it is characterised in that：It is provided with the sample cabin Dismountable sample box, sample chamber spaced apart from each other (3-6) is provided with the sample box, does not sample absorbent cotton for depositing First clothing issue room (3-8) and the second clothing issue room (3-9) for absorbent cotton after storage sampling.
- 4. according to a kind of Radiation monitoring robot architecture described in claim 3, it is characterised in that：The wireless transport module leads to Cross antenna (15) and carry out radio communication with the remote control terminal.
- 5. according to a kind of Radiation monitoring robot architecture described in claim 2, it is characterised in that：The mechanical arm is included successively Arm segments one (2-1), arm segments two (2-2), arm segments three (2-3) and (2- of arm segments four of connection 4), gripper is installed, the mechanical arm drive module includes being used for control machinery arm member one on arm segments four (2-4) (2-1) flexible first mechanical arm drive module, the first mechanical arm for control machinery arm member two (2-2) rotation drive mould Block, for control machinery arm member three (2-3) lifting three-mechanical arm drive module and for controlling the gripper folding The 4th mechanical arm drive module, the first mechanical arm drive module, second mechanical arm drive module, three-mechanical arm driving Module and the 4th mechanical arm drive module are step motor control module.
- 6. according to a kind of Radiation monitoring robot architecture described in claim 4, it is characterised in that：The chute (11) is arc Chute.
- 7. according to a kind of Radiation monitoring robot architecture described in claim 4, it is characterised in that：The alignment system includes GPS locator and BEI-DOU position system.
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| CN201720103445.1U CN206623094U (en) | 2017-01-24 | 2017-01-24 | A kind of Radiation monitoring robot architecture |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671086A (en) * | 2017-01-24 | 2017-05-17 | 中国人民解放军火箭军工程大学 | Caterpillar type radiation monitoring robot and using method thereof |
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| CN109254309A (en) * | 2018-09-13 | 2019-01-22 | 山东省科学院自动化研究所 | A kind of radiation source detection and disposition intelligent robot and its control method |
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| CN109633728A (en) * | 2019-01-15 | 2019-04-16 | 广州高新兴机器人有限公司 | A kind of road surface nuclear radiation detection device and method |
| CN110320071A (en) * | 2019-07-29 | 2019-10-11 | 东南大学 | A kind of full-automatic enclosed hydraulic oil sampler |
| CN112224119A (en) * | 2020-10-20 | 2021-01-15 | 湖北文理学院 | Automatic disinfection epidemic prevention tracked vehicle who sprays |
| CN110320071B (en) * | 2019-07-29 | 2024-04-30 | 东南大学 | Full-automatic airtight hydraulic oil sampling device |
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2017
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106671086A (en) * | 2017-01-24 | 2017-05-17 | 中国人民解放军火箭军工程大学 | Caterpillar type radiation monitoring robot and using method thereof |
| CN109188499A (en) * | 2018-08-30 | 2019-01-11 | 清华大学 | Radioactive source detects positioning device |
| CN109254309A (en) * | 2018-09-13 | 2019-01-22 | 山东省科学院自动化研究所 | A kind of radiation source detection and disposition intelligent robot and its control method |
| CN109412933A (en) * | 2018-09-29 | 2019-03-01 | 苏州博众机器人有限公司 | A kind of robot and its information interacting method |
| CN109412933B (en) * | 2018-09-29 | 2021-04-20 | 苏州博众机器人有限公司 | Robot and information interaction method thereof |
| CN109333564A (en) * | 2018-11-27 | 2019-02-15 | 西南科技大学 | A kind of nuclear radiation environment monitoring sampling robots |
| CN109473186A (en) * | 2018-12-27 | 2019-03-15 | 岭澳核电有限公司 | Robot monitoring system for nuclear power station |
| CN109633728A (en) * | 2019-01-15 | 2019-04-16 | 广州高新兴机器人有限公司 | A kind of road surface nuclear radiation detection device and method |
| CN110320071A (en) * | 2019-07-29 | 2019-10-11 | 东南大学 | A kind of full-automatic enclosed hydraulic oil sampler |
| CN110320071B (en) * | 2019-07-29 | 2024-04-30 | 东南大学 | Full-automatic airtight hydraulic oil sampling device |
| CN112224119A (en) * | 2020-10-20 | 2021-01-15 | 湖北文理学院 | Automatic disinfection epidemic prevention tracked vehicle who sprays |
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