CN214394195U - Double-arm robot for retrieving RIC detector - Google Patents

Abstract

The utility model discloses a double-arm robot for retrieving RIC detector, which comprises a support component, a left joint mechanical arm component and a right joint mechanical arm component; the support assembly is provided with a cover-removing mechanical arm assembly; the left joint mechanical arm assembly is movably arranged at one end of the supporting assembly, and the right joint mechanical arm assembly is movably arranged at the other end of the top of the supporting assembly. The double-arm robot of the utility model replaces the left arm and the right arm of a person through the combination of the right joint mechanical arm component and the left joint mechanical arm component, matches the rotating central shaft which can rotate 360 degrees, can automatically complete the disassembling and assembling cover of the recovery shielding barrel and the coiling recovery work of the RIC detector, realizes the full automation of the whole process, does not need manual assistance, has sensitive whole action, large space coverage and high positioning precision; and the robot adopts a modular design, is easy to replace accessories and convenient to maintain, and is provided with a high-definition monitoring camera on a mechanical arm, so that the action process of the robot can be monitored in a full flow.

Description

Double-arm robot for retrieving RIC detector

Technical Field

The utility model belongs to the technical field of nuclear robot, concretely relates to a double-arm robot that is used for RIC detector to retrieve.

Background

The current old and useless RIC detector is dismantled and is retrieved and rely on manual work to accomplish entirely, and inefficiency and radiation are serious, and current manual work mainly has as follows not enoughly:

1. the artificial operation for a long time is easy to be radiated by a nuclear radioactive source, thus causing harm to the body;

2. the labor intensity of manual operation is high, and the operation efficiency is low;

3. the disassembly and recovery process is easy to cause nuclear pollution to the environment.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to the above-mentioned among the prior art not enough, provide a two-arm robot that is used for RIC detector to retrieve to solve present old and useless RIC detector and dismantle the problem of retrieving relying on the manual work completion entirely.

In order to achieve the purpose, the utility model adopts the technical proposal that:

a double-arm robot for retrieving an RIC detector comprises a support assembly, a left joint mechanical arm assembly and a right joint mechanical arm assembly; the support assembly is provided with a cover-removing mechanical arm assembly; the left joint mechanical arm assembly is movably arranged at one end of the supporting assembly, and the right joint mechanical arm assembly is movably arranged at the other end of the top of the supporting assembly.

Furthermore, the left joint mechanical arm assembly comprises a first swing arm joint and a second swing arm joint, and the first swing arm joint and the second swing arm joint are connected with a transmission shaft through a connecting shaft; a first visual camera is installed on the second swing arm joint, a rotary turntable is arranged at the edge end of the second swing arm joint, and at least three positioning seats used for positioning and recovering the shielding barrel are arranged on the rotary turntable.

Further, the right joint mechanical arm assembly comprises a third swing arm joint and a fourth swing arm joint, and the third swing arm joint and the fourth swing arm joint are connected with a transmission shaft through a connecting shaft; the top of a fourth swing arm joint is provided with a two-stage telescopic assembly, and the lower surface of the fourth swing arm joint is provided with a second visual camera, a wire clamping manipulator and a material taking manipulator; the material taking manipulator is connected with a telescopic shaft in the two-stage telescopic assembly, and a winding manipulator is installed above the material taking manipulator.

Furthermore, the support assembly comprises a rotary joint shaft movably mounted on the base, and a support platform is arranged at the top of the rotary joint shaft.

Furthermore, one end of the top of the supporting platform is connected with a first swing arm joint, and a rotating motor is arranged at the joint of the first swing arm joint and the supporting platform; the other end of the top of the supporting platform is connected with a third swing arm joint, and a rotating motor is arranged at the joint of the third swing arm joint and the supporting platform.

Furthermore, the cover removing mechanical arm assembly comprises lifting assemblies respectively arranged at the top and the bottom of the rotary joint shaft, the lifting assembly positioned at the top of the rotary joint shaft is connected with the upper cover removing mechanical arm, and the lifting assembly positioned at the bottom of the rotary joint shaft is connected with the lower cover removing mechanical arm.

Furthermore, the recovery shielding barrel comprises a sleeve, two ends of the sleeve are respectively detachably connected with the end covers, two ends of the sleeve are provided with fixing rings matched with the end covers, and a plurality of clamping parts are detachably arranged in the sleeve; the sleeve comprises an outer pipe body and an inner pipe body which are mutually sleeved, and the clamping part is arranged on the inner pipe body; the fixing ring is provided with a ring groove matched with the end cover; the end cover is internally and movably provided with a lock tongue matched with the ring groove, and the end cover is internally provided with a movable cap in transmission connection with the lock tongue.

Furthermore, the clamping part comprises a plurality of clamping interfaces, and the clamping interfaces comprise at least two clamping interfaces with opposite directions; the clamping part is a winding plate, and the clamping ports are arranged at two ends of the winding plate; the clamping parts are mutually parallel and are uniformly distributed on the inner tube body;

the length of the inner pipe body along the axial direction is smaller than that of the outer pipe body, and a connecting part of the inner pipe body and the outer pipe body is provided with a bearing groove;

the fixed ring comprises a bearing ring abutted with the sleeve, and the outer side surface of the lower end of the bearing ring is abutted with the bearing groove.

Furthermore, the end cover comprises an upper cover body and a lower cover body which are matched with each other, a cavity is formed between the upper cover body and the lower cover body, and the movable cap and the lock tongue are arranged in the cavity; the upper cover body is provided with a pipe hole at the position of the upper side of the movable cap.

Furthermore, a spring is sleeved in the movable cap, and the lower end of the spring is connected with the lower cover body;

the lower end of the movable cap is a cap brim, and the cap brim is hinged with the lock tongue through a connecting rod.

Thickened lead shielding layers are arranged in the outer tube body and the lower cover body;

go up lid, interior body, solid fixed ring and outer body lateral wall and be stainless steel.

The utility model provides a two-arm robot for RIC detector is retrieved has following beneficial effect:

the double-arm robot of the utility model replaces the left arm and the right arm of a person through the combination of the right joint mechanical arm component and the left joint mechanical arm component, matches the rotating central shaft which can rotate 360 degrees, can automatically complete the disassembling and assembling cover of the recovery shielding barrel and the coiling recovery work of the RIC detector, realizes the full automation of the whole process, does not need manual assistance, has sensitive whole action, large space coverage and high positioning precision; and the robot adopts a modular design, is easy to replace accessories and convenient to maintain, and is provided with a high-definition monitoring camera on a mechanical arm, so that the action process of the robot can be monitored in a full flow.

Drawings

FIG. 1 is a block diagram of a two-arm robot for RIC probe retrieval.

Figure 2 is a diagram of the left joint robotic arm assembly of a two-arm robot for retrieval of RIC detectors.

FIG. 3 is a diagram of the right joint robotic arm assembly of a two-arm robot for RIC probe retrieval.

Fig. 4 and 5 are structural diagrams of a material taking manipulator and a winding manipulator of a double-arm robot for retrieving an RIC detector.

FIG. 6 is a block diagram of the support assembly and decapping robot assembly of a dual-arm robot for retrieval of RIC probes.

FIG. 7 is a block diagram of the operation of a dual-arm robot for RIC probe retrieval.

Fig. 8 is a schematic structural diagram of the present invention.

Fig. 9 is a schematic view showing the connection relationship between the sleeve and the fixing ring.

Fig. 10 is a schematic structural view of the end cap.

Fig. 11 is an external view of the end cap.

The novel cap comprises a sleeve, 11, an outer tube, 12, an inner tube, 13, a bearing groove, 2, a clamping part, 21, a clamping port, 22, a winding board, 3, a fixing ring, 31, a bearing ring, 32, a ring groove, 4, an end cover, 41, a lower cover body, 42, an upper cover body, 43, a lock hole, 44, a cap tube, 45, a tube hole, 5, a movable cap, 51, a cap peak, 52, a connecting rod, 53, a spring, 54 and a lock tongue; 100. a right articulated robotic arm assembly; 200. a left joint robotic arm assembly; 300. the cover removing mechanical arm component; 400. a support assembly; 500. recovering the shielding barrel; 600. a rotating electric machine; 700. hoisting a large crane; 800. a two-arm robot; 900. a false roof platform; 101. a third swing arm joint; 102. a fourth swing arm joint; 103. a two-stage telescoping assembly; 104. a wire clamping manipulator; 105. a second vision camera; 106. a material taking manipulator; 107. a winding manipulator; 201. a first swing arm joint; 202. a connecting shaft; 203. a drive shaft; 204. a second swing arm joint; 205. a first vision camera; 206. rotating the turntable; 207. positioning seats; 301. a lifting assembly; 302. the upper cover is detached from the mechanical arm; 303. the lower cover dismounting manipulator; 401. a support platform; 402. a rotary joint shaft; 403. a base.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art within the spirit and scope of the present invention as defined and defined by the appended claims.

According to one embodiment of the application, referring to fig. 1, the double-arm robot 800 for retrieval of RIC detectors of the present solution comprises a support assembly 400, a left joint robot arm assembly 200, a right joint robot arm assembly 100, a decapping robot arm assembly 300, a rotating motor 600 and a recovery shield bucket 500.

Each of the above-described modules will be described in detail below.

A left joint robot arm assembly 200;

referring to fig. 2, the recycling shielding barrel comprises a first swing arm joint 201 and a second swing arm joint 204, the first swing arm joint 201 and the second swing arm joint 204 are connected with a transmission shaft 203 through a connection shaft 202, a first vision camera 205 is installed on the second swing arm joint 204, a rotary turntable 206 is arranged at the edge end of the second swing arm joint 204, and at least three positioning seats 207 for positioning the recycling shielding barrel 500 are arranged on the rotary turntable 206.

One end of the top of the supporting platform 401 is connected with the first swing arm joint 201, and a rotating motor 600 is arranged at the joint of the first swing arm joint 201 and the supporting platform 401.

The rotating motor 600 rotates to drive the first swing arm joint 201 and the second swing arm joint 204 to rotate on the plane, and further drive the recycling shielding barrel 500 to rotate on the plane until the recycling shielding barrel moves to a preset position.

The rotary turntable 206 is used for providing rotary motion for the recovery shielding barrel 500 to realize the RIC detector winding function, and the positioning seat 207 is used for positioning the recovery shielding barrel 500 to prevent the recovery container from being uncontrolled in state in the rotating process.

Referring to fig. 3-5, the right joint robot arm assembly 100;

the swing arm mechanism comprises a third swing arm joint 101 and a fourth swing arm joint 102, wherein the third swing arm joint 101 and the fourth swing arm joint 102 are connected through a connecting shaft 202 and a transmission shaft 203.

The other end of the top of the supporting platform 401 is connected with the third swing arm joint 101, and a rotating motor 600 is arranged at the joint of the third swing arm joint 101 and the supporting platform 401.

The third swing arm joint 101 and the fourth swing arm joint 102 are matched with the rotating motor 600 to realize the rotation motion of the third swing arm joint 101 and the fourth swing arm joint 102 in a plane.

The top of the fourth swing arm joint 102 is provided with a two-stage telescopic assembly 103, and a driving motor is installed in the two-stage telescopic assembly and connected with a telescopic shaft for realizing the up-and-down movement of the material taking manipulator 106.

A second vision camera 105, a wire clamping manipulator 104 and a material taking manipulator 106 are arranged on the lower surface of the fourth swing arm joint 102; the material taking robot 106 is connected to the telescopic shaft in the two-stage telescopic assembly 103, and a winding robot 107 is mounted above the material taking robot 106.

During operation, the telescopic shaft of the secondary telescopic assembly extends out, the material taking manipulator 106 grasps the head of the RIC detector to be taken to move upwards, then the wire clamping manipulator 104 clamps the head of the sensor, the telescopic shaft of the secondary telescopic assembly reciprocates up and down, and the wire winding manipulator 107 winds the wire in the clamping interface 21 of the aluminum alloy winding plate 22 along an S-shaped path.

Referring to fig. 6, a support assembly 400;

it comprises a rotary joint shaft 402 movably mounted on a base 403, and a supporting platform 401 is arranged on the top of the rotary joint shaft 402.

Supporting platform 401 mainly plays a supporting role, and is connected with first swing arm joint 201 at supporting platform 401 top one end, and the junction of first swing arm joint 201 and supporting platform 401 sets up rotating electrical machines 600, and the other end of supporting platform 401 top is connected with third swing arm joint 101, and the junction of third swing arm joint 101 and supporting platform 401 sets up rotating electrical machines 600.

The rotating base 403 can rotate by ± 180 °, and further drives the supporting platform 401, the first swing arm joint 201, and the third swing arm joint 101 to rotate correspondingly.

Referring to fig. 6, the decapping robot assembly 300;

the lifting assembly 301 is arranged at the top and the bottom of a rotary joint shaft 402, the lifting assembly 301 positioned at the top of the rotary joint shaft 402 is connected with an upper cover dismounting manipulator 302, and the lifting assembly 301 positioned at the bottom of the rotary joint shaft 402 is connected with a lower cover dismounting manipulator 303.

The motor is arranged in the lifting assembly 301, and the motor can drive the shaft to move up and down and drive the upper cover dismounting manipulator 302 and the lower cover dismounting manipulator 303 to move up and down, so that the upper cover body 42 and the lower cover body 41 of the recovery shielding barrel 500 are dismounted and mounted.

An end cover gripping jaw for gripping the upper cover body 42 or the lower cover body 41 and a gripping motor for driving the gripping jaw are provided in the upper cover disassembling robot 302 and the lower cover disassembling robot 303.

A rotating electric machine 600;

the two swing arm joints are respectively arranged at the joint of the first swing arm joint 201 and the supporting platform 401 and the joint of the third swing arm joint 101 and the supporting platform 401 and used for providing rotary power for the first swing arm joint 201 and the third swing arm joint 101.

Referring to fig. 8-11, the shield bucket 500 is recovered;

the nuclear power plant is put into the shielding bucket device.

The two ends of the sleeve 1 are provided with fixing rings 3 matched with the end covers 4, and a closed space is formed among the sleeve 1, the end covers 4 and the fixing rings 3 to prevent nuclear pollution leakage and ensure environmental safety.

A plurality of clamping parts 2 are detachably arranged in the sleeve 1; the clamping portion 2 is used for fixing the position of the cable.

Joint portion 2 is a plurality of pothooks of detachably installation in sleeve pipe 1, and each pothook is located the same height of non-in sleeve 1 between to the cable winding length between extension joint portion 2, thereby can fix the cable length of usefulness in the extension sleeve pipe 1, thereby guarantee to the fixed effect of nuclear pollution cable, avoid the cable to damage in the recovery removes, cause the cable can't reuse.

Through setting up joint portion 2 into detachable structure to the convenience when the clean shielding bucket device of needs, lift joint portion 2 off, thereby convenient clean maintenance, and can carry out solitary clean maintenance to joint portion 2, thereby prevent effectively that the nuclear pollution from remaining, cause potential harm to personnel and environment.

The casing 1 includes an outer body 11 and an inner body 12 that are sleeved with each other, and the clamping portion 2 is disposed on the inner body 12. Through inside and outside bilayer structure, effectively guarantee the isolated nuclear radiation's of shield bucket device ability.

The fixing ring 3 is provided with a ring groove 32 matched with the end cover 4; a locking tongue 54 matched with the annular groove 32 is movably arranged in the end cover 4, and a movable cap 5 in transmission connection with the locking tongue 54 is arranged in the end cover 4.

Therefore, in a normal environment, the end cover 4 is connected with the fixing ring 3 through the ring groove 32 and the lock tongue 54, and the relative position between the end cover 4 and the fixing ring 3 is fixed. When the end cover 4 needs to be taken down, the movable cap 5 is triggered, so that the locking tongue 54 contracts relative to the position in the normal state, and the end cover 4 can be conveniently and quickly taken down even if the locking tongue 54 is disconnected from the annular groove 32.

The basic principle is that a structure which can be conveniently disassembled through arranging an end cover 4 is used as a carrier container when an RIC detector (RIC, namely a core measuring system) is taken back, and the RIC detector and a nuclear pollution source on an attached cable are prevented from contacting with the outside, so that environmental pollution and personnel injury are caused. And because the sleeve pipe 1 that this scheme provided is inside and outside bilayer structure, can effectively guarantee this device's isolated nuclear pollution ability for a long time, deposit the in-process at the later stage and also can use as the sealed container of depositing.

For easy to assemble and dismantle joint portion 2, set up joint portion 2 into the structure that includes a plurality of joint interfaces 21, joint interface 21 and aforementioned pothook are the structure of fixed cable position equally. Through set up a plurality of joint interfaces 21 on a joint portion 2 to save 2 quantity of joint portions, easy to assemble dismantles, improves the installation effectiveness.

The joint interface 21 includes two at least and opposite direction to can be connected with the joint interface 21 that the direction is different with the installation order and the direction of not restricting the cable, make the cable receive the fixed effort of equidirectional not, just can guarantee the fixed effect to the cable position, thereby further simplify the operation degree of difficulty, improve operating efficiency and fixed effect, and then effectively guarantee the life that the nuclear pollutes the cable.

The clamping portion 2 is a winding board 22, and the clamping ports 21 are disposed at two ends of the winding board 22.

The winding plate 22 is of a strip-shaped plate-shaped structure, and the length of the winding plate is the same as that of the inner tube body 12, so that the clamping interface 21 and the fixing ring 3 can be conveniently matched together, the moving direction of the cable is limited, and the fixing effect of the cable is ensured; the bottom surface of the wire winding plate 22 is mounted to the inner tube 12 by bolts, thereby facilitating the assembly and disassembly.

The clamping parts 2 are parallel to each other and are uniformly distributed on the inner pipe body 12, so that the regular arrangement of cables is guaranteed, and the cable is convenient to install and disassemble.

The length of the inner pipe 12 along the axial direction is smaller than that of the outer pipe 11, and a connection part of the inner pipe 12 and the outer pipe 11 is provided with a receiving groove 13. The fixing ring 3 comprises a bearing ring 31 abutted with the sleeve 1, the outer side face of the lower end of the bearing ring 31 is abutted with the bearing groove 13, and the minimum distance from the bottom face of the bearing ring 31 to one end, deviating from the inner pipe body 12, of the clamping interface 21 is 1.05 times of the diameter of the RIC detector cable, so that effective fixing of the cable is guaranteed.

The end cover 4 comprises an upper cover body 42 and a lower cover body 41 which are matched with each other, a cavity is formed between the upper cover body 42 and the lower cover body 41, the movable cap 5 and the bolt 54 are both arranged in the cavity, and the bolt 54 is sleeved with a lock hole 43 arranged on the upper cover body 42; the upper cover 42 is provided with a pipe hole 45 at a position above the movable cap 5.

The upper cover body 42 is provided with a cap tube 44 at the position of the tube hole 45, that is, the tube hole 45 is arranged at the upper end of the cap tube 44, and the upper part of the movable cap 5 is sleeved in the cap tube 44, so that the movable position of the movable cap 5 is conveniently limited, and the mechanical reliability is ensured.

A spring 53 is sleeved in the movable cap 5, and the lower end of the spring 53 is connected with the lower cover body 41. The lower end of the movable cap 5 is provided with a cap peak 51, and the cap peak 51 is hinged with the bolt 54 through a connecting rod 42. By pressing the movable cap 5, the movable cap 5 moves downwards along the cap tube 44, the spring 53 is squeezed, one end of the connecting rod 42 is driven to move downwards, the other end of the connecting rod pulls the locking tongue 54, and the locking tongue 54 is retracted into the end cover 4, so that the movable cap can be installed and separated from the annular groove 32. When the movable cap 5 is released, the spring 53 rebounds to drive the movable cap 5, the connecting rod 52 and the locking tongue 54 to reset.

Thickened lead shielding layers are arranged in the outer tube body 11 and the lower cover body 41, so that nuclear pollution leakage is effectively prevented; the outer side walls of the upper cover body 42, the inner pipe body 12, the fixing ring 3 and the outer pipe body 11 are all made of 304 stainless steel materials, and the characteristics of strong corrosion resistance and easy cleaning and maintenance are utilized to ensure the safety of the whole structure and the characteristic of convenient transportation.

According to an embodiment of the present application, referring to fig. 7, the working principle of the present solution is:

mounting the two-arm robot 800 to the false roof: the two-armed robot 800 is moved to the false roof platform 900 by manually operating the cart hoist 700 and the equipment installation is completed.

Feeding the recovery shielding barrel 500: the method is completed by assistance of a human machine, the recovery shielding barrel 500 is moved to any position (within the coverage range of the robot) above the false roof platform 900 by lifting 700 of a large crane operated manually, and then the current position of the recovery shielding barrel 500 is accurately positioned by the cooperation of the first visual camera 205 and the second visual camera 105; the double-arm robot 800 automatically moves to the position below the recovery shielding barrel 500 to receive materials, and the manual operation crane hoisting 700 places the empty recovery shielding barrel 500 on the rotary turntable 206 at the tail end of the double-arm robot 800 and fixes the empty recovery shielding barrel through a plurality of positioning seats 207.

The upper and lower end covers of the recovery shielding barrel 500 are removed: the motor 600 is rotated to move the upper cover body 42 and the lower cover body 41 of the recycling shielding barrel 500 to the upper cover disassembling mechanical arm 302 and the lower cover disassembling mechanical arm 303, the lifting assembly 301 is operated to move the upper cover disassembling mechanical arm 302 downwards, the lower cover disassembling mechanical arm 303 upwards moves, the movable cap 5 is pressed down, the movable cap 5 downwards moves along the cap pipe 44, the spring 53 is extruded to drive one end of the connecting rod 42 to downwards move, the other end of the connecting rod pulls the locking tongue 54, the locking tongue 54 is retracted into the end cover 4, and therefore the annular groove 32 can be separated, and the upper cover body 42 and the lower cover body 41 can be disassembled.

Visual positioning of the RIC detection sensor to be obtained: after the RIC detector to be taken is marked on the operation interface manually, the robot works and scans and automatically positions the RIC detector.

And (3) performing RIC detector winding: the telescopic shaft of the secondary telescopic assembly extends out, the material taking manipulator 106 grabs the head of the RIC detector to be taken to move upwards, then the wire clamping manipulator 104 clamps the head of the sensor, the telescopic shaft of the secondary telescopic assembly reciprocates up and down, and the wire winding manipulator 107 winds the cable in the clamping port 21 of the aluminum alloy winding plate 22 along an S-shaped path.

After the container is filled with the liquid, the upper cover 42 and the lower cover 41 of the recycling shielding barrel 500 are installed: this step is opposite to the detaching process of the upper cover 42 and the lower cover 41, and is not described herein again.

The full recovery shielded bucket 500 retrieves: the large crane hoisting 700 is manually operated to move to any position (within the coverage range of the robot) above the false roof, the grabbing manipulator of the large crane hoisting 700 is accurately positioned through vision, and then the grabbing manipulator grabs the large crane hoisting 700 to grab the recovery shielding barrel 500 for recovery.

Demolish the dual-arm robot 800: the manually operated large trolley hoist 700 lifts the recovery robot off the false roof platform 900.

The utility model can automatically complete the cover disassembly and assembly of the recovery shielding barrel 500 and the wire winding recovery work of the RIC detector, the whole process realizes full automation, no manual assistance is needed, the whole action is sensitive, the space coverage is large, and the positioning precision is high; and the robot adopts a modular design, is easy to replace accessories and convenient to maintain, and is provided with a high-definition monitoring camera on a mechanical arm, so that the action process of the robot can be monitored in a full flow.

While the present invention has been described in detail with reference to the embodiments, the scope of the present invention should not be limited to the embodiments. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.

Claims (10)

1. A dual-arm robot for retrieval of RIC probes, characterized by: the device comprises a support assembly, a left joint mechanical arm assembly and a right joint mechanical arm assembly; the support assembly is provided with a cover removing mechanical arm assembly; the left joint mechanical arm assembly is movably arranged at one end of the supporting assembly, and the right joint mechanical arm assembly is movably arranged at the other end of the top of the supporting assembly.

2. A two-arm robot for retrieval of RIC probes according to claim 1, characterized by: the left joint mechanical arm assembly comprises a first swing arm joint and a second swing arm joint, and the first swing arm joint and the second swing arm joint are connected with a transmission shaft through a connecting shaft; and a first visual camera is mounted on the second swing arm joint, a rotary turntable is arranged at the edge end of the second swing arm joint, and at least three positioning seats for positioning the recovery shielding barrel are arranged on the rotary turntable.

3. A two-arm robot for retrieval of RIC probes according to claim 1, characterized by: the right joint mechanical arm assembly comprises a third swing arm joint and a fourth swing arm joint, and the third swing arm joint and the fourth swing arm joint are connected with a transmission shaft through a connecting shaft; the top of the fourth swing arm joint is provided with a two-stage telescopic assembly, and the lower surface of the fourth swing arm joint is provided with a second visual camera, a wire clamping manipulator and a material taking manipulator; the material taking manipulator is connected with a telescopic shaft in the two-stage telescopic assembly, and a winding manipulator is installed above the material taking manipulator.

4. A two-arm robot for retrieval of RIC probes according to claim 1, characterized by: the supporting component comprises a rotary joint shaft movably mounted on the base, and a supporting platform is arranged at the top of the rotary joint shaft.

5. A two-arm robot for retrieval of RIC probes according to claim 4, wherein: one end of the top of the supporting platform is connected with a first swing arm joint, and a rotating motor is arranged at the joint of the first swing arm joint and the supporting platform; the other end of the top of the supporting platform is connected with a third swing arm joint, and a rotating motor is arranged at the joint of the third swing arm joint and the supporting platform.

6. A two-arm robot for retrieval of RIC probes according to claim 1, characterized by: the cover disassembling mechanical arm assembly comprises a lifting assembly arranged at the top and the bottom of the rotary joint shaft respectively, the lifting assembly arranged at the top of the rotary joint shaft is connected with the upper cover disassembling mechanical arm, and the lifting assembly arranged at the bottom of the rotary joint shaft is connected with the lower cover disassembling mechanical arm.

7. A two-arm robot for retrieval of RIC probes according to claim 2, characterized by: the recovery shielding barrel comprises a sleeve, two ends of the sleeve are respectively detachably connected with an end cover, two ends of the sleeve are provided with fixing rings matched with the end cover, and a plurality of clamping parts are detachably arranged in the sleeve; the sleeve comprises an outer pipe body and an inner pipe body which are mutually sleeved, and the clamping part is arranged on the inner pipe body; the fixing ring is provided with a ring groove matched with the end cover; the end cover is internally and movably provided with a lock tongue matched with the ring groove, and the end cover is internally provided with a movable cap in transmission connection with the lock tongue.

8. The dual-arm robot for retrieval of RIC detectors of claim 7, wherein: the clamping part comprises a plurality of clamping interfaces, and the clamping interfaces comprise at least two clamping interfaces with opposite directions; the clamping part is a winding plate, and the clamping ports are arranged at two ends of the winding plate; the clamping parts are mutually parallel and are uniformly distributed on the inner tube body;

the length of the inner pipe body along the axial direction is smaller than that of the outer pipe body, and a connecting part of the inner pipe body and the outer pipe body is provided with a bearing groove;

the fixed ring comprises a bearing ring abutted with the sleeve, and the outer side face of the lower end of the bearing ring is abutted with the bearing groove.

9. The dual-arm robot for retrieval of RIC detectors of claim 7, wherein: the end cover comprises an upper cover body and a lower cover body which are matched with each other, a cavity is formed between the upper cover body and the lower cover body, and the movable cap and the lock tongue are arranged in the cavity; the upper cover body is provided with a pipe hole at the position of the upper side of the movable cap.

10. A two-arm robot for retrieval of RIC probes according to claim 9, characterized by: a spring is sleeved in the movable cap, and the lower end of the spring is connected with the lower cover body;

the lower end of the movable cap is a cap peak, and the cap peak is hinged with the lock tongue through a connecting rod;

thickened lead shielding layers are arranged in the outer tube body and the lower cover body;

the upper cover body, the inner pipe body, the fixing ring and the outer side wall of the outer pipe body are all made of stainless steel.

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