CN214157215U

CN214157215U - Robot

Info

Publication number: CN214157215U
Application number: CN202022419196.1U
Authority: CN
Inventors: 刘爱娣; 殷勇; 张景福; 朱露娟; 王国成; 郭诗麒
Original assignee: Hake Medical Beijing Co ltd
Current assignee: Hake Medical Beijing Co ltd
Priority date: 2020-09-04
Filing date: 2020-10-27
Publication date: 2021-09-10
Anticipated expiration: 2030-10-27
Also published as: CN112426127B; CN112426127A

Abstract

The application discloses robot includes: a chassis (110) and a collection device (120) arranged above the chassis (110) for collecting radioactive contaminants, wherein the collection device (120) is provided with a leakage prevention structure for preventing leakage of radioactive contaminants.

Description

Robot

Technical Field

The application relates to the technical field of medical radioactivity detection, in particular to a robot.

Background

The nuclear medicine ward adopts radioactive isotopes for treatment, and pollutants or radioactive medicines with body fluid of patients are often carried on the ground, so that potential safety hazards are brought to medical care personnel or other health personnel. At present, the mode of manually cleaning radioactive pollutants is unfavorable for the health of cleaning personnel due to direct contact with radioactive substances, and recruitment of cleaning post personnel is difficult. Moreover, the existing radioactive cleaning robot is only responsible for cleaning radioactive pollutants, but the device for collecting the radioactive pollutants is not provided with a leakage-proof device for preventing radioactive substances from leaking, so that secondary pollution is easily caused, and potential safety hazards are brought to personnel for processing dust boxes of the sweeper.

Aiming at the technical problems that the prior radioactive cleaning robot in the prior art is easy to cause secondary pollution and brings potential safety hazards to personnel handling the collecting device because the collecting device for collecting radioactive pollutants does not have a leakage-proof device for preventing radioactive substances from leaking, an effective solution is not provided at present.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot to solve the current radioactivity that exists among the prior art at least and clean the robot because its collection device who collects radioactive contamination does not prevent the leakage-proof device that radioactive substance leaked, consequently cause secondary pollution easily, bring the technical problem of potential safety hazard for the personnel who handle collection device.

According to an aspect of the present application, there is provided a robot including: the radioactive pollutant collecting device comprises a base plate and a collecting device arranged above the base plate and used for collecting radioactive pollutants, wherein the collecting device is provided with a leakage-preventing structure used for preventing the radioactive pollutants from leaking.

Optionally, the collecting means comprises: a dust box for collecting radioactive contaminants, a cleaning article for wiping radioactive contaminants on a floor, and a roll for placing the cleaning article, and the leak-proof structure comprises: the lead plate is arranged on the inner wall of the dust box and used for preventing radioactive pollutants collected in the dust box from leaking; and the lead sheet is arranged on the inner wall of the winding drum and used for preventing the leakage of radioactive pollutants on the cleaning object.

Optionally, a radioactivity detecting device disposed below the chassis for detecting radioactive contaminants, and the radioactivity detecting device comprises: a first sensor for detecting radioactive contaminants directly in front of the robot; and a second sensor for detecting radioactive contaminants under the robot.

Optionally, the method further comprises: a drive device disposed on the chassis, wherein the drive device includes: the driving motor is connected with the chassis and is used for driving the chassis to move; the motor controller is connected with the driving motor and used for sending a driving signal to the driving motor; and the encoder is connected with the motor controller and used for providing closed-loop speed control feedback information for the motor controller and improving the control precision of the motor controller.

Optionally, the method further comprises: and the navigation system is arranged above the chassis and connected with the motor controller, and is used for calculating the moving direction, speed and moving time of the robot, generating corresponding driving signals and sending the driving signals to the motor controller.

Optionally, the collecting device further comprises: the cleaning article pressing rod is arranged between the cleaning article and the winding drum and is used for pressing the cleaning article downwards to the ground to wipe radioactive pollutants on the ground and recovering the cleaning article into the winding drum; and the cleaning motor is connected with the cleaning article pressing rod and is used for controlling the pressing down and lifting of the cleaning article pressing rod.

Optionally, the method further comprises: set up the dust extraction on the chassis, wherein dust extraction includes: the dust collection port is connected with the dust box and is used for collecting radioactive pollutants into the dust box; and the dust collection motor is connected with the dust collection port and is used for collecting radioactive pollutants on the ground into the dust box from the dust collection port.

Optionally, the included angle between the first sensor and the second sensor is 30-75 degrees.

Optionally, the method further comprises: and the power supply is connected with the chassis and is used for supplying power to the chassis.

Optionally, the method further comprises: the universal wheel is arranged below the chassis and used for providing supporting force for the chassis.

Therefore, with the robot 100 provided in the present embodiment, the radioactive contamination on the ground can be accurately detected through the cooperation between the first sensor 131 and the second sensor 132. And a leakage prevention structure for preventing the collected radioactive contaminants from secondarily leaking is provided in the collecting device 120 for collecting the radioactive contaminants, which is provided in the chassis 100 of the robot 100. Therefore, when the robot 100 collects the radioactive contaminants on the ground into the collecting device 120, the technical effect of avoiding secondary leakage of the radioactive contaminants can be achieved through the leakage-preventing structure in the collecting device 120, and further potential safety hazards to personnel cleaning the collecting device 120 are avoided. And then the technical problems that the prior radioactive cleaning robot in the prior art is easy to cause secondary pollution and brings potential safety hazards to personnel handling the collecting device because the collecting device for collecting radioactive pollutants does not have a leakage-proof device for preventing radioactive substances from leaking are solved.

The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.

Drawings

Some specific embodiments of the present application will be described in detail hereinafter by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:

FIG. 1 is a schematic view of a robot according to an embodiment of the present application; and

fig. 2 is another perspective schematic view of a robot according to an embodiment of the present application.

Detailed Description

It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances for describing embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

Fig. 1 is a schematic view of a robot according to an embodiment of the present application, and referring to fig. 1, a robot 100 includes: a chassis 110 and a collecting device 120 disposed above the chassis 110 for collecting radioactive contaminants, wherein the collecting device 120 is provided with a leakage preventing structure for preventing leakage of radioactive contaminants.

As described in the background art, the currently adopted manual method for cleaning radioactive pollutants is not good for the health of cleaning personnel due to direct contact with radioactive substances, and the recruitment of cleaning post personnel is difficult. Moreover, the existing radioactive cleaning robot is only responsible for cleaning radioactive pollutants, but the device for collecting the radioactive pollutants is not provided with a leakage-proof device for preventing radioactive substances from leaking, so that secondary pollution is easily caused, and potential safety hazards are brought to personnel for processing dust boxes of the sweeper.

In view of the above, referring to fig. 1, the present embodiment provides a robot 100, wherein the robot 100 is used for cleaning radioactive contamination. And a leakage prevention structure for preventing the collected radioactive contaminants from secondarily leaking is provided in the collecting device 120 for collecting the radioactive contaminants, which is provided in the chassis 110 of the robot 100. Therefore, when the robot 100 collects the radioactive contaminants on the ground into the collecting device 120, the technical effect of avoiding secondary leakage of the radioactive contaminants can be achieved through the leakage-preventing structure in the collecting device 120, and further potential safety hazards to personnel cleaning the collecting device 120 are avoided. And then the technical problems that the prior radioactive cleaning robot in the prior art is easy to cause secondary pollution and brings potential safety hazards to personnel handling the collecting device because the collecting device for collecting radioactive pollutants does not have a leakage-proof device for preventing radioactive substances from leaking are solved.

Alternatively, as shown with reference to fig. 1, the collecting means 120 comprises: a dust box 121 for collecting radioactive contaminants, a cleaning article 122 for wiping radioactive contaminants on the floor, and a roll 123 for placing the cleaning article 122, and the leakage preventing structure includes: a lead plate disposed on an inner wall of the dust box 121 for preventing leakage of radioactive contaminants collected in the dust box 121; and a lead foil provided on an inner wall of the drum 123 for preventing leakage of radioactive contaminants on the cleaning article 122. So that the radioactive contaminants are collected by the dust box 121 and wiped again by the cleaning article 122, thereby achieving the technical effect of completely cleaning the radioactive contaminants. Wherein the cleaning article 122 may be a wipe or the like for wiping the floor. And the inner wall of the dust box 121 is provided with a lead plate for preventing leakage of radioactive pollutants, and the inner wall of the winding drum 123 is provided with a lead sheet for preventing leakage of the radioactive pollutants on the cleaning article 122, so that secondary leakage of the collected radioactive pollutants is avoided, and the technical effect of bringing potential safety hazards to workers cleaning the dust box 121 and the cleaning article 122 in the winding drum 123 is avoided.

Alternatively, referring to fig. 2, the radioactivity detecting device 130 disposed under the chassis 110 for detecting radioactive contaminants, and the radioactivity detecting device 130 includes: a first sensor 131 for detecting radioactive contaminants right in front of the robot 100; and a second sensor 132 for detecting radioactive contaminants under the robot 100. Wherein the first sensor 131 and the second sensor 132 may be beta ray detection sensors. Therefore, the position of the radioactive pollutant on the ground can be detected through the radioactive detection device 130, and further, the radioactive pollutant positioned on the ground can be automatically cleaned and the like.

Optionally, referring to fig. 1, the robot 100 further includes: a driving device 140 disposed on the chassis 110, wherein the driving device 140 includes: a driving motor 141, wherein the driving motor 141 is connected with the chassis 110 and is used for driving the chassis 110 to move; the motor controller 142, the motor controller 142 is connected with the driving motor 141 for sending a driving signal to the driving motor 141; and the encoder 143, the encoder 143 is connected with the motor controller 142, is used for providing the closed-loop speed control feedback information for the motor controller 142, improve the control accuracy of the motor controller 142. The chassis 110 is moved by the driving motor 141 to drive the radioactivity detecting device 130 to move, so as to detect the radioactive contaminants. And the motor controller 142 is used to send a control signal to the driving motor 141, wherein the control signal is, for example, an operation signal such as forward movement or backward movement (which may include movement information such as distance and orientation). In addition, encoder 143 provides a closed-loop speed control feedback signal to the motor controller, improving control accuracy. Therefore, the driving device 140 can precisely drive the chassis 110 of the robot 100 to move, and the technical effect of accurately positioning the radioactive pollutants is achieved.

Optionally, referring to fig. 1, the robot 100 further includes: and a navigation system 150 disposed above the chassis 110 and connected to the motor controller 142, wherein the navigation system 150 is configured to calculate a moving direction, a moving speed, and a moving time of the robot 100, and generate a corresponding driving signal to be sent to the motor controller 142. The navigation system 150 calculates the time and direction of the continuous walking according to the vehicle speed and the distance between the radioactivity detecting device 130 and the dust suction port, and then generates a corresponding driving signal to be sent to the motor controller 142, so as to drive the chassis 110 to move next step. Further movement of the robot 100 may be controlled by the navigation system 150 so that the cleaning opening may be directed at the radioactive contamination for collection of the radioactive contamination.

Optionally, referring to fig. 1, the collecting device 120 further comprises: a cleaning article plunger 124, the cleaning article plunger 124 being disposed between the cleaning article 122 and the drum 123, and the cleaning article plunger 124 being for depressing the cleaning article 122 to the radioactive contamination of the floor wipe and for retrieving the cleaning article 122 into the drum 123; and a cleaning motor 125, the cleaning motor 125 being connected to the cleaning article pressing rod 124 for controlling the pressing down and lifting up of the cleaning article pressing rod 124. Wherein the cleaning motor 125 is connected to the navigation system 150 for receiving a control signal for turning on or off the navigation system 150. The cleaning motor 125 is used to control the actuation of the cleaning article plunger 124. When the robot 100 stops, the cleaning article pressing rod 124 is started to press downwards to press the cleaning article 122 downwards to the ground for wiping radioactive pollutants, and after wiping is finished, the cleaning article pressing rod 124 is started to lift upwards so as to drive the cleaning article 122 to be rolled into the winding drum 123 with the lead skin. Wiping of radioactive contaminants on the floor and collection of the cleaning items 122 is accomplished by the cleaning motor 125 and cleaning item plunger 124 described above.

Optionally, referring to fig. 2, the robot 100 further includes: a dust suction device 160 disposed on the chassis 110, wherein the dust suction device 160 includes: a dust suction port 161, the dust suction port 161 being connected to the dust box 121 for collecting radioactive contaminants into the dust box 121; and a dust suction motor 162, wherein the dust suction motor 162 is connected to the dust suction port 161, and the dust suction motor 162 is used for collecting radioactive pollutants on the floor from the dust suction port 161 into the dust box 121. Wherein the dust suction motor 162 is connected to the navigation system 150 for receiving a control signal for turning on or off the navigation system 150. When the robot 100 stops at a position where there is radioactive contamination on the floor, the dust suction motor 162 is activated to suck the radioactive contamination from the dust suction port 161 into the dust box 121 for collection. So that the collection operation of radioactive contaminants is automatically completed by the cooperative use of the dust suction motor 162, the dust suction port 161, and the dust box 121.

Alternatively, referring to FIG. 2, the angle between the first sensor 131 and the second sensor 132 is 30-75 °. Thus, with the angled arrangement described above, the first sensor 131 can detect radiation directly in front of the robot 100 and the second sensor 1321 can detect radiation below the robot 100. Wherein the angle between the first sensor 131 and the second sensor 132 is preferably 45.

Optionally, referring to fig. 1, the robot 100 further includes: a power source 170 coupled to the chassis 110, wherein the power source 170 is configured to provide power to the chassis 110. Thereby providing power to the chassis 110 via the power source 170, wherein the power source 170 may be a battery.

Optionally, referring to fig. 1, the robot 100 further includes: and the universal wheels 180 are arranged below the chassis 110 and used for providing supporting force for the chassis 110. The casters 180 provide support to the chassis 110 to prevent the chassis 110 from having an unstable center of gravity.

In addition, the radioactivity detecting device 130 is provided with a first beta ray detecting sensor 131 and a second beta ray detecting sensor 132, an included angle of 30-75 degrees is formed, the first beta ray detecting sensor 131 detects a front ray, and the second beta ray detecting sensor 132 detects a lower ray. When the chassis 110 is driven by the motor 141 to move, the first sensor 131 detects front nucleated pollutants, and then the left-right adjustment is started slowly until the signal of the first sensor 131 is strongest; then, the vehicle is driven forwards in a straight line, and the steps are repeated during the driving process. Until the second sensor 132 detects a signal, then slow down until the signal of the second sensor 132 is reduced from the maximum, then calculate the time for continuing walking by the navigation system 150 (such as a car navigation system device) according to the speed of the car, the distance between the sensor and the dust suction opening 161, send a driving signal to the motor controller 142, send a stop signal to the motor controller 142 after reaching a target point, then start the dust suction motor 162, and suck pollutants into the dust box 121 wrapping the lead plate. The encoder 143 provides a closed-loop speed control feedback signal to the motor controller 142 to improve control accuracy. The casters 180 provide support to the chassis 110 to avoid unstable center of gravity. A battery 170 provides power to the chassis. After the suction is finished, the navigation system 150 drives the robot 100 to walk for the distance according to the distance between the dust suction opening and the center of the cleaning article (122) (such as a wiping cloth), then the robot stops, the cleaning article pressing rod 124 is started to press down until the cleaning article pressing rod presses the ground, and then the robot 100 slowly rotates 10-30 degrees left and right along the center of the robot to achieve the purpose of wiping the ground. After mopping, the cleaning article plunger 124 is raised, the cloth winding motor is started 125, and the spun soiled cleaning article 122 is wound into the lead-bearing reel 123.

The utility model provides an automatic chassis device of detection and clean nuclear pollutant, through the motion cooperation on radioactive sensor and chassis, accomplishes the location of nuclear pollutant to clear away the pollutant through the dust absorption with the mode of cleaning, the nuclear pollutant parcel that is cleared up reaches the effect that prevents secondary pollution in can shielding radioactive lead box. Solves the problems of hidden health troubles of manual cleaning and secondary pollution of the common sweeper.

Unless specifically stated otherwise, the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

The above description is only for the preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A robot (100), comprising: a chassis (110) and a collecting device (120) arranged above the chassis (110) for collecting radioactive contaminants, wherein

The collecting device (120) is provided with a leakage prevention structure for preventing leakage of the radioactive contaminants.

2. Robot (100) according to claim 1, characterized in that the collecting device (120) comprises: a dust box (121) for collecting radioactive contaminants, a cleaning article (122) for wiping radioactive contaminants on the floor, and a roll (123) for placing the cleaning article (122), and the leak-proof structure comprises:

a lead plate disposed on an inner wall of the dust box (121) for preventing leakage of the radioactive contaminants collected in the dust box (121); and

a lead sheath disposed on an inner wall of the drum (123) for preventing leakage of the radioactive contaminants on the cleaning article (122).

3. The robot (100) of claim 1, wherein a radioactivity detecting device (130) is disposed below the chassis (110) for detecting radioactive contaminants, and wherein the radioactivity detecting device (130) comprises:

a first sensor (131) for detecting the radioactive contamination right in front of the robot (100); and

a second sensor (132) for detecting the radioactive contamination under the robot (100).

4. The robot (100) of claim 1, further comprising: a drive arrangement (140) disposed on the chassis (110), wherein the drive arrangement (140) comprises:

the driving motor (141), the driving motor (141) is connected with the chassis (110) and is used for driving the chassis (110) to move;

the motor controller (142) is connected with the driving motor (141) and used for sending a driving signal to the driving motor (141); and

the encoder (143) is connected with the motor controller (142) and used for providing closed-loop speed control feedback information for the motor controller (142) and improving the control precision of the motor controller (142).

5. The robot (100) of claim 4, further comprising: a navigation system (150) disposed above the chassis (110) and connected to the motor controller (142), wherein

The navigation system (150) is used for calculating the moving direction, speed and moving time of the robot (100) and generating corresponding driving signals to be sent to the motor controller (142).

6. The robot (100) of claim 2, wherein the collection device (120) further comprises:

a cleaning article plunger (124), said cleaning article plunger (124) disposed between said cleaning article (122) and said drum (123), and said cleaning article plunger (124) for pressing said cleaning article (122) down to a floor to wipe said radioactive contaminants from said floor and to retrieve said cleaning article (122) into said drum (123); and

a cleaning motor (125), wherein the cleaning motor (125) is connected with the cleaning article pressing rod (124) and is used for controlling the pressing down and the lifting up of the cleaning article pressing rod (124).

7. The robot (100) of claim 2, further comprising: a dust extraction device (160) disposed on the chassis (110), wherein the dust extraction device (160) comprises:

a suction port (161), the suction port (161) connected to the dust box (121) for collecting the radioactive contaminants into the dust box (121); and

dust absorption motor (162), dust absorption motor (162) with dust absorption mouth (161) are connected, dust absorption motor (162) are used for with the radioactive contamination on ground is followed dust absorption mouth (161) are collected to in the dirt box (121).

8. Robot (100) according to claim 3, characterized in that the angle between the first sensor (131) and the second sensor (132) is 30-75 °.

9. The robot (100) of claim 1, further comprising: a power source (170) coupled to the chassis (110), wherein the power source (170) is configured to provide electrical power to the chassis (110).

10. The robot (100) of claim 1, further comprising: and the universal wheel (180) is arranged below the chassis (110) and is used for providing supporting force for the chassis (110).