CN215236470U - Laser decontamination robot - Google Patents

Abstract

The utility model relates to a laser decontamination robot, which comprises a cabinet body and a controller, wherein the cabinet body is internally divided into a treatment cavity and a storage cavity, a rotary worktable and a motor are respectively arranged above and below a partition plate, the motor is connected with the rotary worktable, a high-efficiency air filter is arranged on the side wall of the storage cavity, an mechanical arm and an air suction component are arranged in the treatment cavity, a decontamination assembly is arranged on the mechanical arm, a cyclone separation device, a filter assembly and an external air source are arranged in the storage cavity, the air suction component is connected with the cyclone separation device, the cyclone separation device is connected with the filter assembly, the external air source is respectively connected with the cyclone separation device and the filter assembly, and the controller is respectively connected with the motor, the mechanical arm, the decontamination assembly and the external air source; according to the invention, through the matching design of the cabinet body, the decontamination component, the cyclone separation device, the external air source and the controller, the problems that the existing laser decontamination device carries out laser decontamination on a workpiece, the laser decontamination efficiency is poor, the decontamination effect on the surface of the workpiece is poor, the requirement of accurate decontamination cannot be met and the like are solved.

Description

Laser decontamination robot

Technical Field

The utility model relates to a nuclear power equipment technical field especially relates to a laser decontamination robot.

Background

Along with the increasing requirements on nuclear power safety, nuclear pollution protection treatment, emergency treatment, environmental protection and the like in China, the corresponding technical requirements are more and more urgent, and particularly, the requirements on radioactive pollution decontamination treatment technology related to nuclear power safety are more and more urgent; in the key field of the national medium and long-term scientific and technological development outline and the priority support, the problem of nuclear power environmental protection and safety protection is mentioned, the development of the environmental protection industry is promoted, important environmental protection equipment and instrument equipment suitable for the national conditions of China are researched in a key mode, the market share of domestic environmental protection products is increased, the technical level of the environmental protection equipment is improved, the safety supervision of nuclear facilities and radioactive sources is enhanced, and the nuclear pollution and radiation environment safety is ensured.

At present, in the operation process of a nuclear power station, a large amount of radioactive substances with pollution are adhered to the surface of a workpiece, the radioactive substances are increasingly accumulated, the radiation is strong, and the irradiation dose of workers is increased, so that the workpiece needs to be subjected to radioactive decontamination regularly, the safe operation of the nuclear power station is guaranteed, and the collective radiation dose of operators is reduced; however, the existing laser decontamination device can generate a large amount of radioactive dust when performing laser decontamination on a workpiece, and if the radioactive dust is discharged outside along with gas, air pollution and nuclear radiation generated by the radioactive dust threaten the life safety of workers; meanwhile, the accuracy and the strength of laser decontamination can be seriously influenced by flying of radioactive dust, so that the laser decontamination efficiency is lower, the decontamination effect on the surface of a workpiece is poorer, and the requirement of accurate decontamination cannot be met.

SUMMERY OF THE UTILITY MODEL

The utility model aims at prior art not enough and provide a laser decontamination robot, through the cabinet body, the arm, the part of induced drafting, decontamination subassembly, cyclone separator, filter assembly, the cooperation design of outside air supply and controller, effectively solve current laser decontamination device and carry out the laser decontamination to the work piece, produce the radioactive dust, contaminated air and security are lower, and simultaneously, the accuracy and the intensity that influence the laser decontamination are raised upward to flying of radioactive dust, lead to laser decontamination efficiency lower, it is relatively poor to the decontamination effect of work piece surface, can't satisfy the demand scheduling problem of accurate decontamination.

The utility model discloses the technical scheme who adopts:

the utility model provides a laser decontamination robot, includes the cabinet body and controller, is equipped with the cabinet door on the cabinet body, and the internal portion of cabinet separates for the process chamber through the baffle and puts the thing chamber, and rotatory workstation and motor are installed respectively to the top and the below of baffle, and the output shaft of motor passes the baffle to be connected with rotatory workstation, puts the dismantlement formula on the lateral wall in thing chamber and is equipped with high-efficient air cleaner, be equipped with arm and a plurality of air suction part in the process chamber, be equipped with the decontamination subassembly on the arm, it is equipped with cyclone, filter assembly and outside air supply to put the thing intracavity, and the air suction part is connected with cyclone, and cyclone is connected with filter assembly, and outside air supply is connected with cyclone and filter assembly respectively, the controller is connected with motor, arm, decontamination subassembly and outside air supply respectively.

Furthermore, the external air source is an air compressor, the air outlet end of the air compressor is connected with an air delivery pipe, and the air delivery pipe is connected with the cyclone separation device and the filter assembly through a shunt pipe respectively.

Further, the decontamination assembly comprises a scanner, a dosimeter and a laser, and the controller is respectively connected with the scanner, the dosimeter and the laser.

Further, the air suction component is installed on the partition plate and comprises a shell, an upper flow guide port and a lower flow guide port are respectively arranged at the top and the lower portion of the shell, an air outlet is formed in the center of the bottom of the shell and connected with the cyclone separation device, a guide air duct is arranged inside the shell and respectively connected with the upper flow guide port, the lower flow guide port and the air outlet, a rotating shaft rotatably connected with the guide air duct is arranged in the guide air duct, and symmetrical spiral brushes are arranged on the rotating shaft.

Further, the cyclone separation device comprises a collection part, a cyclone separator and a plurality of second air amplifiers, the collection part comprises an outer cylinder and an inner cylinder, the tops of the outer cylinder and the inner cylinder are both designed to be openings, the inner cylinder is installed in the outer cylinder, the bottoms of the inner cylinder and the outer cylinder are connected through a supporting block, the cyclone separator comprises a guide cylinder body, a plurality of feed inlets are arranged on the side wall of the upper part of the guide cylinder body at intervals, a discharge channel is arranged in the center of the upper part of the guide cylinder body, a spiral guide plate which gradually decreases from top to bottom around the outside of the discharge channel is arranged in the guide cylinder body, a discharge outlet is arranged on the lower part of the guide cylinder body, the guide cylinder body is detachably connected with the top of the outer cylinder, the lower part of the guide cylinder body extends to the inside of the inner cylinder body and is tightly connected with the top of the inner cylinder, the air inlet of the second air amplifier is connected with the air suction part through a guide pipe, and the air outlet of the second air amplifier is detachably connected with the feed inlets of the guide cylinder body, the air inlet of the second air amplifier is connected with the air delivery pipe through the shunt pipe.

Furthermore, the upper portion of direction barrel designs for cylindric structure, and the lower part design of direction barrel is hopper-shaped structure.

Furthermore, a drainage plate positioned at the feed inlet is arranged on the guide plate.

Further, the filtering component includes cartridge filter and an adsorption cylinder, the inside filter core that is equipped with of cartridge filter, and the inside packing of adsorption cylinder has the active carbon, and the air inlet end and the cyclone are connected of cartridge filter, and the air-out end and the air inlet end of adsorption cylinder of cartridge filter are connected, and the air-out of adsorption cylinder is served and is equipped with first air amplifier, and first air amplifier passes through the shunt tubes and is connected with air compressor.

Further, the cabinet body is connected with the cabinet door in a sliding mode.

Furthermore, a switch detection sensor is arranged on the cabinet door and comprises a light-emitting element and a light-receiving element, the light-emitting element is arranged on the cabinet door and corresponds to the light-receiving element arranged on the cabinet body, and the light-receiving element is connected with the controller.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a cabinet body, arm, the part that induced drafts, decontamination subassembly, cyclone, filtering component, outside air supply and the cooperation design of controller, effectively solve current laser decontamination device and carry out the laser decontamination to the work piece, produce radioactive dust, contaminated air and security are lower, and simultaneously, flying upward of radioactive dust influences the degree of accuracy and the intensity of laser decontamination, lead to laser decontamination efficiency lower, relatively poor to the decontamination effect of work piece surface, can't satisfy the demand scheduling problem of accurate decontamination.

2. The decontamination assembly is used for simulating a laser decontamination scanning path and an operation pulse width of the workpiece in a computer virtual environment, detecting the condition of the mechanical arm in the operation process in the virtual environment, marking and framing the peripheral boundary of the inaccessible area, and performing laser decontamination on the workpiece.

3. The upper flow guide port and the lower flow guide port of the shell suck gas in the processing cavity, the rotating shaft drives the spiral hairbrush to rotate, the spiral hairbrush is used for pushing the gas in the shell to the air outlet and discharging the gas from the air outlet, and meanwhile, the spiral hairbrush can effectively clean the guide air channel and has the self-cleaning effect.

4. The gas enters the guide cylinder body of the cyclone separation device, and the gas flows spirally at a high speed in the guide cylinder body along the guide plate, so that the particulate matters and dust are promoted to fall into the bottom of the inner cylinder, precipitate to the bottom of the inner cylinder and be collected uniformly.

5. The utility model discloses an outside air supply is to cyclone conveyor gas, because cyclone conveyor communicates with the part that induced drafts, make the part that induced drafts produce the negative pressure, can effectively inhale the gas that has the radioactive dust, after this gas gets into cyclone conveyor, radioactive dust and solid particulate matter in the gas precipitate to cyclone conveyor bottom, small radioactive dust and the particulate matter in all the other gases flow to filter assembly, filter assembly filters this gas and adsorbs small radioactive substance, make this gas discharge when external, comparatively clean, avoid the contaminated air.

Drawings

FIG. 1 is a schematic overall structure diagram according to a first embodiment;

FIG. 2 is a first internal schematic view of an embodiment;

FIG. 3 is a second internal schematic view of the first embodiment;

FIG. 4 is a schematic structural view of an air-absorbing member according to an embodiment;

FIG. 5 is a perspective view of a cyclonic separating apparatus according to an embodiment;

FIG. 6 is a schematic structural diagram of the second embodiment and an enlarged view thereof at A;

FIG. 7 is a schematic structural view of the third embodiment and an enlarged view thereof at B;

in the figure: 1. a cabinet body; 2. a workpiece; 3. a high efficiency air filter; 4. rotating the working table; 5. a partition plate; 6. a mechanical arm; 7. a cabinet door; 8. a wind absorbing member; 801. a housing; 802. an upper diversion port; 803. a lower diversion port; 804. an air outlet; 805. a rotating shaft; 806. a spiral brush; 807. a guide air duct; 901. an adsorption cylinder; 902. a filter cartridge; 10. a motor; 11. a cyclonic separating apparatus; 12. an air compressor; 13. a flow guide pipe; 14. a shunt tube; 15. a wind delivery pipe; 16. a first seal cartridge; 17. a first air amplifier; 18. a cyclone separator; 19. an outer cylinder; 20. an air inlet; 21. a drainage plate; 22. a guide plate; 23. a boss; 24. a discharge passage; 25. a second seal cartridge; 26. a guide cylinder; 27. an inner barrel; 28. a support block; 29. a second air amplifier.

Detailed Description

In order to better understand the technical content of the present invention, the following embodiments are provided, and the present invention is further described with reference to the accompanying drawings.

Example one

Referring to fig. 1 to 5, the utility model provides a laser decontamination robot, including cabinet body 1 and controller, cabinet door 7 is equipped with on cabinet body 1, when using, open cabinet door 7, conveniently with the help of lifting device hoist workpiece 2 to rotary worktable 4 on, and fix workpiece 2, close cabinet door 7 again, the internal portion of cabinet body 1 is separated into treatment chamber and thing chamber through baffle 5, the treatment chamber is located the top of putting the thing chamber, the treatment chamber is used for placing workpiece 2 that waits to decontaminate, put the thing chamber and provide the space of installation for other equipment, rotary worktable 4 and motor 10 are installed respectively to the top and the below of baffle 5, the output shaft of motor 10 passes through baffle 5 and is connected with rotary worktable 4, motor 10 passes through output shaft drive rotary worktable 4 and rotates, it is equipped with high-efficient air cleaner 3 to dismantle the formula on the lateral wall of thing chamber, the gas of putting the thing intracavity outwards discharges again through high-efficient air cleaner 3, the exhausted gas is purified and treated by adopting a detachable connection mode and is detached, so that a worker can conveniently enter the storage cavity to overhaul equipment arranged in the storage cavity one by one, a mechanical arm 6 and three air suction parts 8 are arranged in the storage cavity, the air suction parts 8 are arranged at the periphery of the rotary workbench 4 at intervals, a decontamination assembly is arranged on the mechanical arm 6, the mechanical arm 6 is a conventional technical means of technicians in the field, the detailed description is not needed, the mechanical arm 6 drives the decontamination assembly to work in the storage cavity, the air suction parts 8 work, the storage cavity generates negative pressure by the air suction parts 8, radioactive dust and gas in the storage cavity can be sucked into the storage cavity, a cyclone separation device 11, a filter assembly and an external gas source are arranged in the storage cavity, the air suction parts 8 are connected with the cyclone separation device 11, and the cyclone separation device 11 is connected with an air inlet end of the filter assembly, an external gas source is respectively connected with the cyclone separation device 11 and the filter assembly, the output end of the controller is respectively connected with the motor 10, the mechanical arm 6, the decontamination assembly and the external gas source through signals, the controller sends corresponding instructions to the motor 10, the mechanical arm 6 and the decontamination assembly, the motor 10 drives the rotary worktable 4 to rotate in the processing cavity, the decontamination assembly starts to work, the mechanical arm 6 drives the decontamination assembly to accurately decontaminate the workpiece 2 on the rotary worktable 4, specifically, gas is conveyed to the cyclone separation device 11 through the external gas source, the cyclone separation device 11 is communicated with the air suction part 8, so that the air suction part 8 generates negative pressure, gas with radioactive dust can be effectively sucked, after the gas enters the cyclone separation device 11, the radioactive dust and solid particles in the gas are precipitated to the bottom of the cyclone separation device 11, and the micro radioactive dust and particles in the rest gas flow to the filter assembly, the filtering component filters the gas and adsorbs the tiny radioactive substances, so that the gas is relatively clean when being discharged to the outside, and air pollution is avoided.

Preferably, the external air source is an air compressor 12, the air outlet end of the air compressor 12 is connected with an air delivery pipe 15, the air delivery pipe 15 is respectively connected with the cyclone separation device 11 and the filter assembly through a shunt pipe 14, the air compressor 12 compresses air, and the gas is conveyed to the cyclone separation device 11 and the filtering component through the air conveying pipe 15, so that the cyclone separation device 11 and the filtering component generate negative pressure, the cyclone separation device 11 sucks the radioactive dust and the gas in the treatment cavity into the treatment cavity through the air suction component 8, because the cyclone separation device 11 is connected with the filtering component, the filtering component generates negative pressure, the gas conveyed to the filtering component by the cyclone separation device 11 can be effectively sucked out, the filtering component can also filter the gas for multiple times and then discharge the gas, the filtering effect is good, the direct discharge of nuclear radiation dust is effectively avoided, the harm to human health is easy, and the pollution to surrounding air is easy.

Preferably, the decontamination component comprises a scanner, a dosimeter and a laser, the controller is respectively connected with the scanner, the dosimeter and the laser, the controller respectively sends an execution instruction to the scanner, the dosimeter and the laser, the scanner is a three-dimensional scanner, the laser is a fiber laser, the three-dimensional scanner is started, the workpiece 2 to be decontaminated is subjected to model scanning and data processing, a three-dimensional model is established, the dosimeter is used for measuring the surface contact dose rate of the workpiece 2, scanning parameters are preset, a laser decontamination scanning path and an operation pulse width are simulated in a computer virtual environment, the situation of the mechanical arm 6 in the operation process is detected in the virtual environment, the peripheral boundary of an inaccessible area is marked and framed, and finally, the fiber laser is started to perform laser decontamination on the workpiece 2.

Preferably, the air suction member 8 is installed on the partition plate 5, the air suction member 8 includes a housing 801, the top and the lower portion of the housing 801 are respectively provided with an upper flow guide port 802 and a lower flow guide port 803, the center of the bottom of the housing 801 is provided with an air outlet 804, the air outlet 804 passes through the partition plate 5, the air outlet 804 is connected with the cyclone separation device 11 through a flow guide pipe 13, the housing 801 is internally provided with a guide air duct 807, the guide air duct 807 is respectively connected with the upper flow guide port 802, the lower flow guide port 803 and the air outlet 804, the guide air duct 807 is internally provided with a rotating shaft 805 rotatably connected therewith, the rotating shaft 805 is provided with symmetrical spiral brushes 806, the spiral brushes 806 are driven by the negative pressure of the air outlet 804 and the air pressure between the upper flow guide port 802 and the lower flow guide port 803, so that the rotating shaft 805 with the spiral brushes 806 rotates, and in the rotating process, the air with dust in the processing chamber is sucked through the upper flow guide port 802 and the lower flow guide port 803, the two air flows act on the spiral brushes 806 respectively, and because the spiral brushes 806 are arranged symmetrically, the radioactive dust and gas in the guide air duct 807 are conveyed to the air outlet 804 by the spiral brushes 806 and are discharged from the air outlet 804; casing 801 is long rod-shaped structure, goes up water conservancy diversion mouth 802 and lower water conservancy diversion mouth 803 homodisperse, can evenly inhale the gas in the treatment chamber, avoids the accumulation and the settlement of radioactive dust and solid particulate matter to appear in casing 801's direction wind channel 807, and in addition, spiral brush 806 has the flexibility, and is less to the wearing and tearing of direction wind channel 807 inner wall to, rotation axis 805 is at the pivoted in-process, can effectively clean direction wind channel 807, has the effect of automatically cleaning.

Preferably, the cyclone separation device 11 comprises a collection component, a cyclone separator 18 and three second air amplifiers 29, the collection component is composed of an outer cylinder 19 and an inner cylinder 27, the outer cylinder 19 is made of a ray shielding material, the ray shielding material is preferably lead or an alloy material thereof, the inner cylinder 27 is made of an anti-corrosion metal material, the anti-corrosion metal material is preferably stainless steel, the tops of the outer cylinder 19 and the inner cylinder 27 are both designed to be open, the inner cylinder 27 is installed in the outer cylinder 19, the operation is convenient, the installation is convenient, the inner cylinder 27 and the bottom of the outer cylinder 19 are connected through a supporting block 28, the inner cylinder 27 is supported by the supporting block 28, the inner cylinder 27 is prevented from being soaked in moisture in the moisture after the moisture in the outer cylinder 19 is condensed, the cyclone separator 18 comprises a guide cylinder 26, three feeding ports are arranged on the side wall of the upper portion of the guide cylinder 26 at intervals, a discharge passage 24 is arranged in the center of the upper portion of the guide cylinder 26, the exhaust channel 24 is connected with the filter assembly, the gas in the inner cylinder 27 can be effectively conveyed to the filter assembly through the exhaust pipeline, the gas is filtered and then exhausted, the spiral guide plate 22 which is gradually decreased from top to bottom around the outside of the exhaust channel 24 is arranged in the guide cylinder 26, the discharge port is arranged on the lower part of the guide cylinder 26, the discharge port can also be arranged in an up-and-down staggered mode at equal intervals, the guide cylinder 26 is detachably connected with the top of the outer cylinder 19, the installation and the disassembly are convenient, the radioactive dust in the inner cylinder 27 can be conveniently and timely processed, the lower part of the guide cylinder 26 extends to the inside of the inner cylinder 27 and is tightly connected with the top of the inner cylinder 27, the radioactive dust is prevented from being leaked through tight fit, the second air amplifier 29 is designed into a pipeline-shaped structure, the air inlet of the second air amplifier 29 is connected with the air suction component 8 through the guide pipe 13, and the air outlet of the second air amplifier 29 is detachably connected with the guide cylinder 26, the air inlet 20 of the second air amplifier 29 is connected with the air delivery pipe 15 of the air compressor 12 through the shunt pipe 14, the air compressor 12 delivers the compressed air to the second air amplifier 29 through the air delivery pipe 15 and the shunt pipe 14, so that the second air amplifier 29 generates negative pressure, the second air amplifier 29 delivers the air sucked by the air suction part 8 to the guide cylinder 26 through the guide pipe 13, the air carries particulate matters and radioactive dust, the guide plate 22 is utilized to enable the air in the guide cylinder 26 to flow spirally at high speed, so that the particulate matters and the dust fall into the bottom of the inner cylinder 27, and the particulate matters and the radioactive dust have certain gravity and are deposited to the bottom of the inner cylinder 27, so that the inner cylinder 27 can collect uniformly.

Preferably, the upper portion of the guide cylinder 26 is designed to be a cylindrical structure, the lower portion of the guide cylinder 26 is designed to be a funnel-shaped structure, a lead shielding layer is laid on the outer wall of the upper portion of the guide cylinder 26 to shield the radioactive dust entering the cyclone separator 18, and the radioactive dust and the gas enter the guide cylinder 26, and the lower portion of the guide cylinder 26 is designed to be a funnel-shaped structure, so that the radioactive dust and the gas can conveniently fall into the inner cylinder 27 through the discharge hole.

Preferably, the guide plate 22 is provided with the flow guide plates 21 at the feeding ports, the number of the flow guide plates 21 is the same as that of the feeding ports, and the radioactive dust and the gas can be guided to flow along the guide plate 22 through the flow guide plates 21, so that the guide function is achieved.

Preferably, the filter assembly includes a filter cartridge 902 and an adsorption cylinder 901, a filter element is disposed inside the filter cartridge 902, activated carbon is filled inside the adsorption cylinder 901, an air inlet end of the filter cartridge 902 is connected to the cyclone separation device 11, an air outlet end of the filter cartridge 902 is connected to an air inlet end of the adsorption cylinder 901, a first air amplifier 17 is disposed on the air outlet end of the adsorption cylinder 901, an air inlet 20 of the first air amplifier 17 is connected to an air delivery pipe 15 of the air compressor 12 through a shunt pipe 14, as the air compressed by the air compressor 12 is delivered to the first air amplifier 17 through the air delivery pipe 15, the air outlet end of the adsorption cylinder 901 generates negative pressure, the air inside the cyclone separation device 11 enters the filter cartridge 902 and the adsorption cylinder 901 in sequence under the action of pressure difference, the air is efficiently filtered by the filter element inside the filter cartridge 902, and fine radioactive dust and fixed particulate matters in the air are filtered and removed by a physical filtering manner, the active carbon adsorption link is entered, the active carbon adsorbs the smoke radioactive substances in the gas, the pollutants are intercepted, the radioactive components contained in the filtered gas are greatly reduced, the serious pollution to the surrounding environment and the air after the gas which is not filtered and adsorbed is discharged is effectively prevented, and the damage of the radioactive substances to the environment and the operators is reduced.

Preferably, the cabinet body 1 is slidably connected with the cabinet door 7, the cabinet door 7 is pushed to one side, the cabinet door 7 is opened, and the workpiece 2 is conveniently hoisted to the rotary workbench 4 of the cabinet body 1 by using a hoisting tool.

Preferably, the cabinet door 7 is provided with a handle, the cabinet door can be conveniently opened through the handle, and the operation is convenient and labor-saving; in addition, a glass observation port can be additionally arranged on the cabinet door 7, so that the decontamination condition of the workpiece 2 in the cabinet body 1 can be observed conveniently.

Preferably, a switch detection sensor is arranged on the cabinet door 7, and the switch detection sensor comprises a light emitting element and a light receiving element, the light emitting element is installed on the cabinet door 7, the light emitting element corresponds to the light receiving element arranged on the cabinet body 1, and the light receiving element is connected with the controller. When the cabinet door 7 is opened, the light-emitting element of the cabinet door 7 is aligned with the light-receiving element on the cabinet body 1, the light-receiving element receives the pulse signal and sends the signal to the controller, the power of the air compressor 12 is increased through the controller, and the air output of the air compressor 12 is increased, so that the negative pressure in the treatment cavity is enhanced, and residual dust in the treatment cavity does not flow out of the treatment cavity; on the contrary, after the cabinet door 7 is closed, the light receiving element cannot receive the pulse light signal emitted by the light emitting element, the light receiving element sends the message to the controller, and the controller appropriately reduces the power of the air compressor 12.

The utility model discloses a theory of operation does:

when the surface of a workpiece 2 is decontaminated, a cabinet door 7 is opened, the workpiece 2 is lifted to a rotary worktable 4 by a lifting tool and is fixed, the cabinet door 7 is tightly closed, a controller respectively sends related instructions to a motor 10, a mechanical arm 6, an air compressor 12, a scanner, a dosimeter and a laser, the motor 10 drives the rotary worktable 4 to rotate in a processing cavity, the mechanical arm 6 drives the scanner, the dosimeter and the laser to work, specifically, the scanner is started to carry out model scanning and data processing on the workpiece 2 to be decontaminated, a three-dimensional model is established, the dosimeter is used for measuring the surface contact dosage rate of the workpiece 2, scanning parameters are preset, a laser decontamination scanning path and an operation pulse width are simulated in a computer virtual environment, the condition of the mechanical arm 6 in the operation process is detected in the virtual environment, the peripheral boundary of an inaccessible area is marked and framed, the workpiece 2 is laser decontaminated using a laser.

Laser robot can produce a large amount of radioactive dust at the in-process of decontamination, and the gas mixture of radioactive dust and treatment chamber in, for avoiding the gaseous direct emission in the treatment chamber, pollutes environment and air on every side, needs to carry out effective processing, and is specific to this gas: the air compressor 12 is started to work, the air compressor 12 compresses air, and the compressed air is conveyed to the second air amplifier 29 and the first air amplifier 17 through the air conveying pipe 15 and the flow dividing pipe 14, the second air amplifier 29 and the first air amplifier 17 respectively generate negative pressure, so that the air outlet ends of the shell 801 and the adsorption cylinder 901 generate negative pressure, the shell 801 sucks the air in the treatment cavity into the treatment cavity through the upper flow guide opening 802 and the lower flow guide opening 803, the two air flows jointly act on the spiral brush 806 and rotate the spiral brush 806, because the spiral brush 806 is of a symmetrical structure on the rotating shaft 805, after the rotating shaft 805 drives the spiral brush 806 to rotate, the air with radioactive dust and air is pushed to the air outlet 804 by the spiral brush 806, the air is conveyed to the guide cylinder 26 through the flow guiding pipe 13, because the guide plate 22 of the guide cylinder 26 has a guiding function, the gas entering the guide cylinder 26 flows spirally at a high speed along the guide plate 22, the solid particles and the radioactive dust in the gas fall into the bottom of the inner cylinder 27, and the solid particles and the radioactive dust have certain gravity and are precipitated to the bottom of the inner cylinder 27, so that the solid particles and the radioactive dust are conveniently collected; meanwhile, the rest of tiny radioactive dust and particulate matters in the gas flow through the filter cartridge 902 and the adsorption cartridge 901, the filter cartridge in the filter cartridge 902 efficiently filters the gas, a physical filtration mode is utilized, fine solid particulate matters and radioactive dust in the gas are filtered and removed, an active carbon adsorption link is entered, the active carbon adsorbs radioactive substances existing in the gas, pollutants are intercepted, the radioactive ingredients contained in the filtered gas are greatly reduced, and finally, the gas is discharged to a storage cavity through the air outlet end of the adsorption cartridge 901 and is discharged to the outside through the efficient air filter 3.

Example two

Referring to fig. 6, the present embodiment is different from the first embodiment in that: the outer wall of the lower portion of the guide cylinder 26 is sleeved with a first sealing sleeve 16, the first sealing sleeve 16 is sleeved on the top of the inner cylinder 27, the sealing performance of the guide cylinder 26 and the inner cylinder 27 is effectively improved through the first sealing sleeve 16, leakage of radioactive dust from the top of the inner cylinder 27 is prevented, and a sealing effect is achieved.

The outer wall of the upper part of the guide cylinder 26 is sleeved with a boss 23, the boss 23 is provided with a second sealing sleeve 25, and the second sealing sleeve 25 is arranged on the top of the outer cylinder 19 and is tightly attached to the top; the second sealing sleeve 25 is additionally arranged, so that the sealing performance of the connection between the guide cylinder 26 and the outer cylinder 19 is effectively improved, the radioactive dust is prevented from leaking from the opening of the outer cylinder 19, and a double sealing effect is achieved.

EXAMPLE III

Referring to fig. 7, the present embodiment is different from the second embodiment in that: the outer wall of the upper part of the guide cylinder 26 is provided with an external thread, the inner wall of the top part of the outer cylinder 19 is provided with an internal thread corresponding to the external thread, the guide cylinder 26 is in threaded connection with the outer cylinder 19, and the guide cylinder is in threaded connection with the outer cylinder 19.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the technical principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. The utility model provides a laser decontamination robot, includes the cabinet body and controller, is equipped with the cabinet door on the cabinet body, and the internal portion of cabinet separates for the process chamber through the baffle and puts the thing chamber, and rotatory workstation and motor are installed respectively to the top and the below of baffle, and the output shaft of motor passes the baffle to be connected with swivel work head, and the dismantlement formula is equipped with high-efficient air cleaner, its characterized in that on putting the lateral wall in thing chamber: the device is characterized in that a mechanical arm and a plurality of air suction parts are arranged in the treatment cavity, a decontamination assembly is arranged on the mechanical arm, a cyclone separation device, a filter assembly and an external air source are arranged in the object placing cavity, the air suction parts are connected with the cyclone separation device, the cyclone separation device is connected with the filter assembly, the external air source is respectively connected with the cyclone separation device and the filter assembly, and the controller is respectively connected with the motor, the mechanical arm, the decontamination assembly and the external air source.

2. A laser decontamination robot as claimed in claim 1, wherein: the external air source is an air compressor, the air outlet end of the air compressor is connected with an air delivery pipe, and the air delivery pipe is connected with the cyclone separation device and the filtering component through a shunt pipe respectively.

3. A laser decontamination robot as claimed in claim 1, wherein: the decontamination assembly comprises a scanner, a dosimeter and a laser, and the controller is connected with the scanner, the dosimeter and the laser respectively.

4. A laser decontamination robot as claimed in claim 1, wherein: the air suction component is installed on the partition board and comprises a shell, an upper flow guide port and a lower flow guide port are respectively arranged at the top and the lower part of the shell, an air outlet is formed in the center of the bottom of the shell and connected with the cyclone separation device, a guide air duct is arranged inside the shell and respectively connected with the upper flow guide port, the lower flow guide port and the air outlet, a rotating shaft rotatably connected with the guide air duct is arranged in the guide air duct, and a symmetrical spiral hairbrush is arranged on the rotating shaft.

5. A laser decontamination robot as claimed in claim 2, wherein: the cyclone separation device comprises a collection part, a cyclone separator and a plurality of second air amplifiers, wherein the collection part comprises an outer barrel and an inner barrel, the tops of the outer barrel and the inner barrel are both designed to be openings, the inner barrel is arranged in the outer barrel, the bottoms of the inner barrel and the outer barrel are connected through a supporting block, the cyclone separator comprises a guide barrel, a plurality of feed inlets are arranged on the side wall of the upper part of the guide barrel at intervals, a discharge channel is arranged in the center of the upper part of the guide barrel, spiral guide plates which gradually decrease from top to bottom around the outside of the discharge channel are arranged in the guide barrel, a discharge outlet is arranged on the lower part of the guide barrel, the guide barrel is detachably connected with the top of the outer barrel, the lower part of the guide barrel extends into the inner barrel and is tightly connected with the top of the inner barrel, an air inlet of the second air amplifier is connected with an air suction part through a guide pipe, and an air outlet of the second air amplifier is detachably connected with the feed inlets of the guide barrel, the air inlet of the second air amplifier is connected with the air delivery pipe through the shunt pipe.

6. A laser decontamination robot as claimed in claim 5, wherein: the upper portion of direction barrel designs for cylindric structure, and the lower part design of direction barrel is hopper-shaped structure.

7. A laser decontamination robot as claimed in claim 5, wherein: and the guide plate is provided with a drainage plate positioned at the feed inlet.

8. A laser decontamination robot as claimed in claim 2, wherein: the filter component comprises a filter cartridge and an adsorption cylinder, wherein a filter element is arranged inside the filter cartridge, activated carbon is filled inside the adsorption cylinder, an air inlet end of the filter cartridge is connected with the cyclone separation device, an air outlet end of the filter cartridge is connected with an air inlet end of the adsorption cylinder, a first air amplifier is arranged on an air outlet end of the adsorption cylinder, and the first air amplifier is connected with an air compressor through a shunt pipe.

9. A laser decontamination robot as claimed in claim 1, wherein: the cabinet body is connected with the cabinet door in a sliding manner.

10. A laser decontamination robot as claimed in claim 9, wherein: the cabinet door is provided with a switch detection sensor, the switch detection sensor comprises a light-emitting element and a light-receiving element, the light-emitting element is installed on the cabinet door, the light-emitting element corresponds to the light-receiving element arranged on the cabinet body, and the light-receiving element is connected with the controller.

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