CN217943358U

CN217943358U - Nuclear radiation detection robot

Info

Publication number: CN217943358U
Application number: CN202221735741.0U
Authority: CN
Inventors: 刘瑛霞; 刘振业; 徐争名; 李庆楠
Original assignee: Nuclover Technology Co ltd
Current assignee: Nuclover Technology Co ltd
Priority date: 2022-07-05
Filing date: 2022-07-05
Publication date: 2022-12-02
Anticipated expiration: 2032-07-05

Abstract

The nuclear radiation detection robot comprises a moving platform, wherein the moving platform comprises a tracked robot, the head end and the tail end of the two sides of the tracked robot are respectively connected with a crawler type turnover arm in a rotating mode, a multi-shaft mechanical arm is installed on the tracked robot, and terminal equipment is installed at the tail end of the multi-shaft mechanical arm through a quick-change assembly. The utility model provides a nuclear radiation detection robot, walking, obstacle-crossing ability are stronger, and terminal equipment dismouting, change convenience.

Description

Nuclear radiation detection robot

Technical Field

The utility model relates to a radiation detection technology field, concretely relates to nuclear radiation detection robot.

Background

For some working scenes in which nuclear radiation may exist, radiation detection is required. The existing detection means is that manual handheld detection equipment is used for detection, so that time and labor are wasted when the detection is carried out, and potential safety hazards exist. Some automatic detection machines are also present on the market, such as application No. 2019100366010, entitled: a Chinese patent application of a road surface nuclear radiation detection device and a method solves the problems of high working strength, nuclear safety and the like in manual radiation detection work, but a walking mechanism of the road surface nuclear radiation detection device adopts a wheel type robot, the walking and obstacle-crossing capabilities are weak, the road surface nuclear radiation detection device is not suitable for environments with complex terrains, and in addition, terminal equipment (namely radiation detection equipment) is fixedly arranged on the equipment and is not convenient to disassemble, assemble and replace.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that exists among the above-mentioned prior art, the utility model provides a nuclear radiation inspection robot, walking, obstacle-crossing ability are stronger, and terminal equipment dismouting, change convenience.

In order to realize the technical effect, the utility model discloses a concrete technical scheme as follows:

the nuclear radiation detection robot comprises a moving platform, wherein the moving platform comprises a tracked robot, the head end and the tail end of the two sides of the tracked robot are respectively connected with a crawler type turnover arm in a rotating mode, a multi-shaft mechanical arm is installed on the tracked robot, and terminal equipment is installed at the tail end of the multi-shaft mechanical arm through a quick-change assembly.

Further, the first assembly comprises a mechanical arm connecting ring connected with the multi-axis mechanical arm, connecting holes are uniformly distributed in the mechanical arm connecting ring, the first assembly can be fixed on the multi-axis mechanical arm through the connecting holes, a ring column is arranged in the mechanical arm connecting ring along the direction perpendicular to the mechanical arm connecting ring, a pair of wedge-shaped grooves are formed in the inner wall of the ring column, and an annular step groove communicated with the wedge-shaped grooves is formed in the lower end of the ring column;

the second assembly comprises a connecting column matched with the inner hole of the annular column in size, a wedge-shaped block matched with the wedge-shaped groove is arranged at the lower end of the connecting column, the top end of the connecting column is connected with an installation plate, and the installation plate is provided with an installation hole for installing terminal equipment; the terminal device can be fixed to the second component through the mounting hole.

Have a first subassembly to different terminal equipment quick change subassemblies, and a plurality of second subassembly, the first subassembly of installation on the multiaxis arm, second subassembly of installation on every terminal equipment, during the installation terminal equipment, will the wedge is aimed at back edge wedge groove with the wedge groove and is inserted in the ring post hole to thereby make the wedge get into the step inslot and make spliced pole and ring post form the locking in order to prevent spliced pole and ring post and break away from through rotatory spliced pole, simultaneously be equipped with the spring steel ball that can stretch out and draw back on the top surface of ring post, be equipped with the embedding hole (not shown in the figure) that can block the spring steel ball on the bottom surface of mounting panel. When the spring steel balls are aligned with the embedding holes and clamped into the embedding holes, the spring steel balls can be limited to rotate, so that the spring steel balls are prevented from rotating and automatically separating in the working process; when the mounting plate needs to be detached, the mounting plate is rotated only by applying a certain force, and the connecting column can be pulled out by realigning the wedge block and the wedge groove to realize quick detachment.

Further, the terminal equipment is a surface stain detector, a gamma camera or a visible light video camera.

Furthermore, a power supply assembly and a remote communication module are further installed on the mobile platform.

According to the technical scheme, compared with the prior art that a wheeled robot is adopted, the mobile platform of the utility model adopts the tracked robot and additionally adds the turnover arm, and the detection robot can span complex terrains such as barriers, pits, stairs and the like through different shapes of the turnover arm; in addition, the tail end of the multi-axis mechanical arm is provided with a quick-change assembly, so that different terminal devices can be quickly disassembled and assembled and replaced to adapt to different detection requirements.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings.

Fig. 1 is a schematic view of a mobile platform according to the present invention;

fig. 2 is a schematic diagram of the connection between the multi-axis robot and the terminal device (in this case, the surface stain detector) according to the present invention;

fig. 3 is a schematic diagram of the connection between the multi-axis robot arm and the terminal device (in this case, the gamma camera);

fig. 4 is a schematic diagram of the connection between the multi-axis robot and the terminal device (in this case, a visible light camera);

fig. 5 is an overall schematic view of the quick-change assembly of the present invention;

FIG. 6 is a schematic view of an internal structure of FIG. 5;

fig. 7a is a schematic view a of the working state of the present invention when crossing an obstacle;

fig. 7b is a schematic view b illustrating the working state of the present invention when crossing an obstacle;

fig. 7c is a schematic view c illustrating the working state of the present invention when crossing an obstacle;

fig. 7d is a schematic view d of the working state of the present invention when crossing an obstacle;

fig. 8a is a schematic view a of the working state of the present invention when crossing a pit;

fig. 8b is a schematic view b of the working state of the present invention when crossing a pit;

fig. 8c is a schematic view c of the working state of the present invention when crossing a pit;

fig. 8d is a schematic view d of the working state of the present invention when crossing a pit;

fig. 9a is a schematic view a showing the working state of the present invention when climbing stairs;

fig. 9b is a schematic view b of the working state of the present invention when climbing stairs;

fig. 9c is a schematic view of the working state c of the present invention when climbing stairs;

fig. 9d is a schematic view d of the working state of the present invention when climbing stairs;

fig. 10 is a schematic perspective view of the multi-axis robot arm and the terminal device (in this case, the surface stain detector) of the present invention respectively engaged with the quick-change assembly;

fig. 11 is a schematic perspective view of the multi-axis robot arm and the terminal device (in this case, the gamma camera) of the present invention respectively engaged with the quick-change assembly;

fig. 12 is a schematic perspective view of the multi-axis robot arm and the terminal device (in this case, a visible light camera) respectively engaged with the quick-change assembly according to the present invention;

fig. 13 is a schematic plan view of the multi-axis robot arm and the terminal device (in this case, the surface stain detector) of the present invention respectively engaged with the quick-change assembly;

fig. 14 is a schematic plan view illustrating the fitting state of the multi-axis robot arm and the terminal device (in this case, the gamma camera) with the quick-change component according to the present invention;

fig. 15 is a schematic plan view illustrating the fitting state of the multi-axis robot arm and the terminal device (in this case, the visible light camera) with the quick-change component according to the present invention;

wherein, 1, moving the platform; 2. a tracked robot; 3. a crawler-type overturning arm; 4. a multi-axis robotic arm; 5. a terminal device; 6. a mechanical arm connecting ring; 7. connecting holes; 8. a ring column; 9. a wedge-shaped groove; 10. an annular stepped groove; 11. connecting columns; 12. a wedge block; 13. mounting a plate; 14. mounting holes; 15. a spring steel ball; 16. a power supply component; 17. a remote communication module; 18. a quick-change component; 18a, a first component; 18b, a second component.

Detailed Description

To make the objects, technical solutions and advantages of the present embodiment more clear, the technical solutions in the present embodiment will be described clearly and completely below with reference to the accompanying drawings in the present embodiment, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be understood that the terms "upper end", "lower end", "tail end", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Examples

Referring to fig. 1 to 4, a nuclear radiation detection robot includes a mobile platform 1, where the mobile platform 1 includes a tracked robot 2, the head and tail ends of two sides of the tracked robot 2 are respectively and rotatably connected to a tracked turnover arm 3, a multi-axis mechanical arm 4 is installed on the tracked robot 2, and a terminal device 5 is installed at the tail end (which refers to one end away from the mobile platform 1) of the multi-axis mechanical arm through a quick-change component 18.

Wherein, with reference to fig. 10 to 15 and fig. 5 and 6, the quick-change assembly 18 comprises a first assembly 18a and several second assemblies 18b,

the first assembly comprises a mechanical arm connecting ring 6 connected with the multi-axis mechanical arm 4, connecting holes 7 are uniformly distributed in the mechanical arm connecting ring 6, the connecting holes 7 are uniformly distributed at equal intervals near the edge of the mechanical arm connecting ring 6, the first assembly can be fixed on the multi-axis mechanical arm through the connecting holes, a ring column 8 is arranged in the mechanical arm connecting ring 6 along the direction perpendicular to the mechanical arm connecting ring 6, a pair of wedge grooves 9 are formed in the inner wall of the ring column 8, an annular step groove 10 communicated with the wedge grooves 9 is formed in the lower end of the ring column 8, and the wedge grooves 9 and the annular step groove 10 are both arranged in the inner wall of the ring column 8; the wedge-shaped grooves 9 are preferably designed asymmetrically, and the two wedge-shaped grooves 9 are different in size;

the second assembly comprises a connecting column 11 matched with the inner hole of the annular column 8 in size, a wedge block 12 matched with the wedge groove is arranged at the lower end of the connecting column 11, a mounting plate 13 is connected to the top end of the connecting column 11, and a mounting hole 14 for mounting terminal equipment is formed in the mounting plate; the terminal equipment can be fixed to the second component through the mounting hole 14.

Aiming at different terminal equipment, the quick-change component 18 is provided with a first component and a plurality of second components, the first component is arranged on the multi-axis mechanical arm, the second component is arranged on each terminal equipment, when the terminal equipment is arranged, the wedge-shaped block is aligned with the wedge-shaped groove and then inserted into the inner hole of the ring column along the wedge-shaped groove, the wedge-shaped block enters the annular step groove by rotating the connecting column, the connecting column and the ring column are locked to prevent the connecting column from being separated from the ring column, meanwhile, the top surface of the ring column 8 is provided with telescopic spring steel balls 15, the bottom surface of the mounting plate is provided with embedding holes (not shown in the figure) capable of clamping the spring steel balls, when the spring steel balls are aligned with the embedding holes and clamped into the embedding holes, the rotation between the connecting column and the ring column can be limited, and the connecting column and the ring column are prevented from rotating and being separated from each other in the working process; when the mounting plate needs to be detached, the mounting plate is rotated only by applying a certain force, and the connecting column can be pulled out by realigning the wedge block and the wedge groove to realize quick detachment.

Referring to fig. 2 to 4, the terminal device is a surface stain detector, a gamma camera or a visible light camera.

In addition, a power supply module 16 and a telecommunications module 17 are mounted on the mobile platform.

Referring to fig. 7a to 7d, when inspection robot meets the barrier, the upset arm of its front end upwards overturns until taking and leaning on the barrier, and the upset arm of its rear end downwards overturns until hugging closely subaerial simultaneously to the track of two upset arms rotates, final boosting the inspection robot climbs the barrier.

In the same way, referring to fig. 8a to 9d, when the inspection robot of the present invention encounters a pit or a stair, it can easily stride over or climb up by means of the turning arm at the front end and the rear end.

It is right to have used specific individual example above the utility model discloses expound, only be used for helping to understand the utility model discloses, not be used for the restriction the utility model discloses. To the technical field of the utility model technical personnel, the foundation the utility model discloses an idea can also be made a plurality of simple deductions, warp or replacement.

Claims

1. The nuclear radiation detection robot comprises a moving platform, wherein the moving platform comprises a tracked robot, the head end and the tail end of the two sides of the tracked robot are respectively connected with a crawler type turnover arm in a rotating mode, the nuclear radiation detection robot is characterized in that a multi-shaft mechanical arm is installed on the tracked robot, and terminal equipment is installed at the tail end of the multi-shaft mechanical arm through a quick-change assembly.

2. A nuclear radiation detecting robot as recited in claim 1, wherein said quick-change assembly includes a first assembly and a plurality of second assemblies;

the first assembly comprises a mechanical arm connecting ring connected with the multi-axis mechanical arm, connecting holes are uniformly distributed in the mechanical arm connecting ring, the first assembly can be fixed on the multi-axis mechanical arm through the connecting holes, the mechanical arm connecting ring is provided with a ring column extending in a direction perpendicular to the mechanical arm connecting ring, a pair of wedge-shaped grooves are formed in the inner wall of the ring column, and an annular step groove communicated with the wedge-shaped grooves is formed in the lower end of the ring column;

the second assembly comprises a connecting column matched with the inner hole of the annular column in size, a wedge-shaped block matched with the wedge-shaped groove is arranged at the lower end of the connecting column, a mounting plate is connected to the top end of the connecting column, a mounting hole for mounting terminal equipment is formed in the mounting plate, and the terminal equipment can be fixed to the second assembly through the mounting hole;

when the terminal equipment is connected with the multi-axis mechanical arm, the wedge block is aligned with the wedge groove, then the connecting column is inserted into the inner hole of the ring column along the wedge groove, and the wedge block enters the stepped groove by rotating the connecting column, so that the connecting column and the ring column are locked to prevent the connecting column from being separated from the ring column;

meanwhile, the top surface of the ring column is provided with a telescopic spring steel ball, and the bottom surface of the mounting plate is provided with an embedding hole capable of clamping the spring steel ball; when the spring steel balls are aligned with the embedding holes and clamped into the embedding holes, the rotation between the ring post and the connecting post can be limited, so that the connecting post and the ring post are prevented from being unlocked automatically.

3. The nuclear radiation detection robot of claim 2, wherein the terminal device is a surface stain detector, a gamma camera, or a visible light camera.

4. The nuclear radiation detection robot of claim 1, wherein a power module and a telecommunications module are also mounted on the mobile platform.