CN211061704U - Nuclear radiation dose detection robot - Google Patents
Nuclear radiation dose detection robot Download PDFInfo
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- CN211061704U CN211061704U CN201921732234.XU CN201921732234U CN211061704U CN 211061704 U CN211061704 U CN 211061704U CN 201921732234 U CN201921732234 U CN 201921732234U CN 211061704 U CN211061704 U CN 211061704U
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Abstract
The utility model discloses a nuclear radiation dose detection robot, which comprises a walking device, a rotating seat, a telescopic arm and a gripper device, wherein the rotating seat, the telescopic arm and the gripper device are arranged at the top of the walking device and are connected in sequence; the walking device is arranged as a main body of the robot; the rotating seat is used for adjusting the horizontal rotation and pitching movement of the gripper; the telescopic arm is used for adjusting the telescopic length of the gripping device; the gripper device is used for gripping the target object; the nuclear radiation detector is used for detecting the nuclear radiation dose of the target object grabbed by the grabbing device; a distance measuring device for measuring a distance between the robot and the target object; a support device for supporting the nuclear radiation detector and the distance measuring device; and the data transmission module is in communication connection with the nuclear radiation detector and the distance measuring device. The utility model discloses a nuclear radiation detecting instrument real-time detection target object's radiant quantity has improved work efficiency.
Description
Technical Field
The utility model belongs to the technical field of the robot, specifically speaking relates to a nuclear radiation dose detection robot.
Background
The existing method for detecting the dangerous goods suspected of having nuclear radiation by the mobile robot is very complex, the dangerous goods suspected of having nuclear radiation needs to be grabbed to a space with strict lead enclosure, then moved to a professional disposal point for subsequent treatment, and the defects of the existing method are that equipment is very complex, time consumption is long, and the flow is complex.
Chinese patent application No. cn20161909. x discloses an inspection robot under a dangerous environment. The device comprises a crawler travelling device, an industrial control device, a cradle head device, a six-degree-of-freedom mechanical arm device, a gas detection device and a wind speed detection device, wherein the cradle head device is a lifting explosion-proof cradle head device or an infrared explosion-proof cradle head device; the crawler traveling device comprises a ship-shaped floating plate type shell, a crawler tensioning device, an explosion-proof control box and a direct drive device; the crawler tensioning devices are positioned on two sides of the ship-shaped floating plate type shell, and the direct-drive devices are fixed in the ship-shaped floating plate type shell and drive the crawler tensioning devices to move; the explosion-proof control box is fixed in the ship-shaped floating plate type shell and is respectively connected with the direct-drive device, the gas detection device, the industrial personal computer device, the cloud platform device, the six-degree-of-freedom mechanical arm device and the wind speed detection device.
Although the above-described prior art proposes an inspection robot, it is impossible to effectively detect a nuclear radiation substance.
In view of this, the present invention is provided.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the present invention is to overcome the deficiencies of the prior art, and to provide a nuclear radiation dose detection robot which can overcome the above problems or at least partially solve the above problems.
In order to solve the technical problem, the utility model adopts the following basic concept: a nuclear radiation dose detection robot comprises
The walking device comprises a walking device, a rotating seat, a telescopic arm and a gripper device, wherein the rotating seat, the telescopic arm and the gripper device are arranged at the top of the walking device and are sequentially connected;
the walking device is arranged as a main body of the robot and used for driving the robot to move;
the rotating seat is used for adjusting the horizontal rotation and pitching movement of the gripper;
the telescopic arm is used for adjusting the telescopic length of the gripping device;
the gripper device is used for gripping the target object;
the nuclear radiation detector is arranged at the front part of the walking device and used for detecting the nuclear radiation dose of the target object grabbed by the grabbing device;
the distance measuring device is arranged at the front part of the walking device and used for measuring the distance between the robot and the target object;
the supporting device is arranged at the front part of the walking device and used for supporting the nuclear radiation detector and the distance measuring device;
and the data transmission module is in communication connection with the nuclear radiation detector and the distance measuring device and transmits the data measured by the nuclear radiation detector and the distance measuring device to the central control module in real time.
Wherein the walking device comprises
A vehicle body provided as a main body of the traveling device;
the wheel bodies are symmetrically arranged on two sides of the vehicle body;
and the crawler belts are symmetrically arranged on the outer sides of the wheel bodies on two sides of the vehicle body.
Furthermore, the wheel bodies are rubber tires which are symmetrically arranged on two sides of the vehicle body and have the same size.
Further, the crawler belt is a rubber belt arranged on the outer side of the wheel body.
Furthermore, the supporting device comprises
One end of the first supporting part is connected with the front part of the vehicle body and extends along the horizontal direction, and the other end of the first supporting part is used for fixing the nuclear radiation detector;
and one end of the second supporting part is connected with the first supporting part and extends along the vertical direction, and the other end of the second supporting part is used for fixing the distance measuring device.
Meanwhile, the gripper device comprises
The gripper seat is connected with the telescopic arm and can rotate around one end of the telescopic arm;
the two clamping jaws are arranged at the front end of the gripper seat and move relatively to realize the grabbing of the target object.
The front video module is arranged on one side, close to the clamping jaws, of the hand grip seat and used for observing the front of the clamping jaws.
Further, the claw is arranged on the gripper seat and can rotate around one end of the gripper seat.
And, the range finder is a laser range finder.
And the radiation indicator lamp is arranged on the supporting device and used for displaying whether the radiation value exceeds the standard or not.
After the technical scheme is adopted, compared with the prior art, the utility model following beneficial effect has: a nuclear radiation dose detection robot, adopt professional removal nuclear radiation detecting instrument real-time detection, snatch suspicious article and turn the article with the manipulator, the image transmission function real-time transmission examined the result through the instrument from the area, it is near apart from the article examined, image voice is clear, the sampling speed is fast, the precision is high, satisfy the quick response requirement of anti-terrorism, work efficiency has been improved, at the crime scene, many occasions such as anti-terrorism scene can be used, the process flow of dealing with of suspicious article in the scene has been simplified, the suspicious article that will originally need on-the-spot to be sealed up and deposited, direct remote judgement, through the operation of professional instrument and manipulator, the accuracy of judging the system has been guaranteed, safety, can reject suspicious article fast, save manual work and time.
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention, are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. It is obvious that the drawings in the following description are only some embodiments, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
In the drawings:
FIG. 1 is a schematic structural view of a nuclear radiometer inspection robot of the present invention;
fig. 2 is a schematic diagram of the control logic of the nuclear radiometer detection robot of the present invention.
In the figure: 1. a traveling device; 101. a vehicle body; 102. a wheel body; 103. a crawler belt; 2. a rotating base; 3. a telescopic arm; 4. a gripper device; 401. a gripper seat; 402. a claw; 403. a front video module; 5. a target object; 6. a nuclear radiation detector; 7. a distance measuring device; 8. a support device; 801. a first support section; 802. a second support portion; 9. a data transmission module; 10. a central control module; 11. a radiation indicator light.
It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but to illustrate the inventive concept by those skilled in the art with reference to specific embodiments.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments, and the following embodiments are used for illustrating the present invention, but do not limit the scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 2, the nuclear radiation dose detection robot of the present invention includes a walking device 1, and a rotating base 2, a telescopic arm 3 and a gripper 4, which are disposed on the top of the walking device 1 and sequentially connected to each other; the walking device 1 is arranged as a main body of the robot and used for driving the robot to move; the rotating base 2 is used for adjusting the horizontal rotation and pitching movement of the gripper 4; the telescopic arm 3 is used for adjusting the telescopic length of the gripping device 4; the gripper device 4 is used for gripping the target object 5; the nuclear radiation detector 6 is arranged at the front part of the walking device 1 and used for detecting the nuclear radiation dose of the target object 5 grabbed by the grabbing device 4; a distance measuring device 7 disposed in front of the traveling device 1 for measuring a distance between the robot and the target object 5; the supporting device 8 is arranged at the front part of the walking device 1 and is used for supporting the nuclear radiation detector 6 and the distance measuring device 7; data transmission module 9, with nuclear radiation detector 6 with range unit 7 communication is connected, will nuclear radiation detector 6 with range unit 7 measuring data real-time transmission gives well accuse module 10, and the operator is right through well accuse module 10 nuclear radiation detector 6 with range unit 7 measuring control, nuclear radiation detector 6 real-time supervision target object 5, radiation source or radioactive substance produce the intensity of radiation to its all ring edge borders promptly and through calculating with the form of dosage rate, upload well accuse module 10 in real time through data transmission module 9.
Wherein the traveling device 1 includes a vehicle body 101 provided as a main body of the traveling device 1; at least four wheels 102 symmetrically arranged on two sides of the vehicle body 101; and crawler belts 103 symmetrically disposed on outer sides of the wheel bodies 102 on both sides of the vehicle body 101. Further, the wheel body 102 is a rubber tire symmetrically disposed on both sides of the vehicle body 101 and having the same size. Further, the crawler belt 103 is a rubber belt disposed on the outer side of the wheel body 102, so that the grip force is enhanced.
In addition, the support device 8 includes a first support portion 801, one end of which is connected to the front portion of the vehicle body 101 and extends in the horizontal direction, and the other end of which is used for fixing the nuclear radiation detector 6; one end of the second supporting portion 802 is connected to the first supporting portion 801 and extends in the vertical direction, and the other end of the second supporting portion 802 is used for fixing the distance measuring device 7, wherein the relative position between the first supporting portion 801 and the second supporting portion 802 can be adjusted, and requirements of devices with different specifications are met.
Meanwhile, the gripper device 4 comprises a gripper seat 401, is connected with the telescopic arm 3 and can rotate around one end of the telescopic arm 3; and the two claws 402 are arranged at the front end of the gripper seat 401, and the two claws 402 move relative to each other to grip the target object 5. Further, the front video module 403 is further included, and is arranged on one side of the gripper seat 401 close to the claw 402, and is used for observing the front of the claw 402. Further, the claw 402 is provided on the gripper base 401 to be rotatable around one end of the gripper base 401.
The distance measuring device 7 is a laser distance measuring instrument.
And the radiation indicator lamp 11 is arranged on the supporting device 8 and used for displaying whether the radiation value exceeds the standard or not.
When the target object 5 appears in a crime scene, the mobile robot is remotely controlled to be close to the target object 5 through the walking device 1, the distance between the nuclear radiation detector 6 and the target object 5 is determined to be in accordance with a specified range through the distance measuring device 7, the nuclear radiation detector 6 is remotely controlled to be turned on to start measurement, if nuclear radiation leakage exceeds the standard, the radiation indicator lamp 11 can send a red flashing signal, meanwhile, the nuclear radiation detector 6 can transmit a measurement result to the central control module 10 through the data transmission module 9 in real time, and an operator of the central control module 10 performs further processing and transmits the result to field processing personnel for further processing. If the nuclear radiation leakage does not exceed the standard, the remote control robot rotating seat 2 rotates the telescopic arm 3, the target object 5 is grabbed through the extension of the telescopic arm 3 and the grabbing device 4, the grabbed target object 5 is rotated in different directions, the test is carried out again until the angle measurements are all exceeded the standard, the safety of suspicious articles can be confirmed, and the detection is completed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and although the present invention has been disclosed with reference to the above preferred embodiment, but not to limit the present invention, any person skilled in the art can make modifications or changes to equivalent embodiments by utilizing the above technical contents without departing from the scope of the present invention, and any simple modification, equivalent change and modification made to the above embodiments by the technical matters of the present invention are within the scope of the present invention.
Claims (10)
1. A nuclear radiation dose detection robot, characterized in that: comprises that
The device comprises a walking device (1), and a rotating seat (2), a telescopic arm (3) and a gripper device (4) which are arranged at the top of the walking device (1) and are sequentially connected;
the walking device (1) is arranged as a main body of the robot and is used for driving the robot to move;
the rotating base (2) is used for adjusting the horizontal rotation and pitching movement of the gripper device (4);
the telescopic arm (3) is used for adjusting the telescopic length of the gripping device (4);
the gripper device (4) is used for gripping a target object (5);
the nuclear radiation detector (6) is arranged at the front part of the walking device (1) and used for detecting the nuclear radiation dose of the target object (5) grabbed by the grabbing device (4);
the distance measuring device (7) is arranged at the front part of the walking device (1) and is used for measuring the distance between the robot and the target object (5);
the supporting device (8) is arranged at the front part of the walking device (1) and is used for supporting the nuclear radiation detector (6) and the distance measuring device (7);
and the data transmission module (9) is in communication connection with the nuclear radiation detector (6) and the distance measuring device (7), and transmits data measured by the nuclear radiation detector (6) and the distance measuring device (7) to the central control module (10) in real time.
2. A nuclear radiation dose detection robot as claimed in claim 1, wherein: the walking device (1) comprises
A vehicle body (101) provided as a main body of the traveling device (1);
the wheels (102) are symmetrically arranged on two sides of the vehicle body (101);
and the crawler belts (103) are symmetrically arranged on the outer sides of the wheel bodies (102) on the two sides of the vehicle body (101).
3. A nuclear radiation dose detection robot as claimed in claim 2, wherein: the wheel bodies (102) are rubber tires which are symmetrically arranged on two sides of the vehicle body (101) and have the same size.
4. A nuclear radiation dose detection robot as claimed in claim 2, wherein: the crawler belt (103) is a rubber belt arranged on the outer side of the wheel body (102).
5. A nuclear radiation dose detection robot as claimed in claim 2, wherein: the supporting device (8) comprises
A first support part (801), one end of which is connected with the front part of the vehicle body (101) and extends along the horizontal direction, and the other end of which is used for fixing the nuclear radiation detector (6);
and one end of the second supporting part (802) is connected with the first supporting part (801) and extends in the vertical direction, and the other end of the second supporting part is used for fixing the distance measuring device (7).
6. A nuclear radiation dose detecting robot as claimed in any one of claims 1 to 5, wherein: the gripping device (4) comprises
The gripper seat (401) is connected with the telescopic arm (3) and can rotate around one end of the telescopic arm (3);
the two clamping jaws (402) are arranged at the front end of the gripper seat (401), and the target object (5) is grabbed through the two clamping jaws (402) which move relatively.
7. The nuclear radiation dose detection robot of claim 6, wherein: the front video module (403) is arranged on one side, close to the clamping jaw (402), of the gripper seat (401) and used for observing the front of the clamping jaw (402).
8. The nuclear radiation dose detection robot of claim 6, wherein: the claw (402) is arranged on the gripper seat (401) and can rotate around one end of the gripper seat (401).
9. A nuclear radiation dose detection robot as claimed in claim 1, wherein: the distance measuring device (7) is a laser distance measuring instrument.
10. A nuclear radiation dose detection robot as claimed in claim 1, wherein: the radiation indicator lamp (11) is arranged on the supporting device (8) and used for displaying whether the radiation value exceeds the standard or not.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921732234.XU CN211061704U (en) | 2019-10-16 | 2019-10-16 | Nuclear radiation dose detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921732234.XU CN211061704U (en) | 2019-10-16 | 2019-10-16 | Nuclear radiation dose detection robot |
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| Publication Number | Publication Date |
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| CN211061704U true CN211061704U (en) | 2020-07-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921732234.XU Active CN211061704U (en) | 2019-10-16 | 2019-10-16 | Nuclear radiation dose detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113109854A (en) * | 2021-03-23 | 2021-07-13 | 海南核康科技有限公司 | Instrument for accurately detecting instantaneous radiation dose rate |
| CN113204045A (en) * | 2021-04-06 | 2021-08-03 | 宝鸡赛威重型机床制造有限公司 | Nuclear radiation severe pollution safety approaching vehicle |
-
2019
- 2019-10-16 CN CN201921732234.XU patent/CN211061704U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113109854A (en) * | 2021-03-23 | 2021-07-13 | 海南核康科技有限公司 | Instrument for accurately detecting instantaneous radiation dose rate |
| CN113204045A (en) * | 2021-04-06 | 2021-08-03 | 宝鸡赛威重型机床制造有限公司 | Nuclear radiation severe pollution safety approaching vehicle |
| CN113204045B (en) * | 2021-04-06 | 2024-03-26 | 宝鸡赛威重型机床制造有限公司 | Nuclear radiation severe pollution safety approaching vehicle |
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