A dual-arm robot for nuclear environments

Abstract

The present invention discloses a dual-arm robot for use in a nuclear environment, comprising a support assembly, a left joint mechanical arm assembly and a right joint mechanical arm assembly; a cover removal manipulator assembly is arranged on the support assembly; the left joint mechanical arm assembly is movably arranged at one end of the support assembly, and the right joint mechanical arm assembly is movably arranged at the other end of the top of the support assembly. The dual-arm robot of the present invention replaces the left and right arms of a person by combining the right joint mechanical arm assembly and the left joint mechanical arm assembly, and is equipped with a rotating central axis that can rotate 360°, and can automatically complete the disassembly and assembly of the cover of the recovery shield barrel and the winding recovery of the RIC detector. The entire process is fully automated without the need for manual assistance, and the overall action is sensitive, the spatial coverage range is large, and the positioning accuracy is high; and a modular design is adopted, which makes it easy to replace accessories and convenient maintenance, and a high-definition monitoring camera is equipped on the mechanical arm to monitor the robot's action process throughout the entire process.

Description

Technical Field

[0001] The invention belongs to the technical field of nuclear robots, and in particular relates to a dual-arm robot applied to a nuclear environment. Background Art

[0002] At present, the disassembly and recycling of waste RIC detectors is entirely done by manual work, which is inefficient and causes serious radiation. The existing manual work has the following main shortcomings:

[0003] 1. Long-term manual work is prone to exposure to nuclear radiation sources, causing physical harm;

[0004] 2. The manual work has high labor intensity and low work efficiency;

[0005] 3. The disassembly and recycling process is likely to cause nuclear pollution to the environment. Summary of the invention

[0006] The purpose of the present invention is to provide a dual-arm robot for use in nuclear environments in view of the above-mentioned deficiencies in the prior art, so as to solve the problem that the current disassembly and recycling of waste RIC detectors depends entirely on manual work.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A dual-arm robot for use in a nuclear environment comprises a support assembly, a left joint mechanical arm assembly and a right joint mechanical arm assembly; a cover removal mechanical arm assembly is arranged on the support assembly; the left joint mechanical arm assembly is movably arranged at one end of the support assembly, and the right joint mechanical arm assembly is movably arranged at the other end of the top of the support assembly.

[0009] Furthermore, the left joint robotic arm assembly includes 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 by a connecting shaft and a transmission shaft; a first visual camera is installed on the second swing arm joint, and a rotating turntable is arranged at the edge end of the second swing arm joint, and at least three positioning seats are arranged on the rotating turntable for positioning the recovery shielding barrel.

[0010] Furthermore, the right joint robotic arm assembly includes 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 by a connecting shaft and a transmission shaft; a two-stage telescopic assembly is installed on the top of the fourth swing arm joint, and a second visual camera, a wire clamping robot and a material picking robot are installed on the lower surface of the fourth swing arm joint; the material picking robot is connected to the telescopic shaft in the two-stage telescopic assembly, and a winding robot is installed above the material picking robot.

[0011] Furthermore, the support assembly includes a rotary joint shaft movably mounted on the base, and a support platform is arranged on the top of the rotary joint shaft.

[0012] Furthermore, one end of the top of the support platform is connected to the first swing arm joint, and a rotating motor is arranged at the connection between the first swing arm joint and the support platform; the other end of the top of the support platform is connected to the third swing arm joint, and a rotating motor is arranged at the connection between the third swing arm joint and the support platform.

[0013] Furthermore, the cover removal robot assembly includes lifting assemblies respectively arranged at the top and bottom of the rotating joint shaft. The lifting assembly located at the top of the rotating joint shaft is connected to the upper cover removal robot, and the lifting assembly located at the bottom of the rotating joint shaft is connected to the lower cover removal robot.

[0014] Furthermore, the recovery shielding barrel includes a sleeve, both ends of which are detachably connected to the end covers respectively, and both ends of the sleeve are provided with fixing rings cooperating with the end covers, and a plurality of clamping parts are detachably provided in the sleeve; the sleeve includes an outer tube body and an inner tube body which are mutually socketed, and the clamping part is provided on the inner tube body; the fixing ring is provided with an annular groove cooperating with the end cover; a locking tongue cooperating with the annular groove is movably provided in the end cover, and a movable cap transmission-connected with the locking tongue is provided in the end cover.

[0015] Furthermore, the clamping part includes a plurality of clamping interfaces, the clamping interfaces include at least two and are in opposite directions; the clamping part is a winding plate, and the clamping interfaces are arranged at both ends of the winding plate; the clamping parts are parallel to each other and evenly distributed on the inner tube body;

[0016] The length of the inner tube body along the axial direction is smaller than that of the outer tube body, and a receiving groove is provided at the connection between the inner tube body and the outer tube body;

[0017] The fixing ring comprises a receiving ring which abuts against the sleeve, and the outer side surface of the lower end of the receiving ring abuts against the receiving groove.

[0018] Furthermore, the end cover includes an upper cover body and a lower cover body that cooperate with each other, a cavity is formed between the upper cover body and the lower cover body, and the movable cap and the locking tongue are both arranged in the cavity; a pipe hole is arranged on the upper cover body at a position above the movable cap.

[0019] Furthermore, a spring is sleeved inside the movable cap, and the lower end of the spring is connected to the lower cover body;

[0020] The lower end of the movable hat is a hat brim, and the hat brim and the lock tongue are hinged through a connecting rod.

[0021] Thickened lead shielding layers are provided inside the outer tube body and the lower cover body;

[0022] The upper cover body, the inner tube body, the fixing ring and the outer side wall of the outer tube body are all made of stainless steel.

[0023] The dual-arm robot applied to a nuclear environment provided by the present invention has the following beneficial effects:

[0024] The dual-arm robot of the present invention replaces the left and right arms of a person by a combination of a right joint mechanical arm assembly and a left joint mechanical arm assembly, and is equipped with a rotating central axis that can rotate 360°. It can automatically complete the disassembly and assembly of the cover of the recovery shielding barrel and the winding recovery of the RIC detector. The entire process is fully automated without the need for manual assistance. The overall movement is sensitive, the spatial coverage range is large, and the positioning accuracy is high. It also adopts a modular design, which makes it easy to replace accessories and convenient maintenance. In addition, a high-definition monitoring camera is equipped on the mechanical arm to monitor the robot's movement process throughout the entire process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Figure 1 is a structural diagram of a dual-arm robot used in nuclear environments.

[0026] Figure 2 Diagram of the left joint arm assembly of a dual-arm robot used in nuclear environments.

[0027] Figure 3 Diagram of the right joint arm assembly of a dual-arm robot for use in nuclear environments.

[0028] Figure 4 , 5 This is the structural diagram of the material picking manipulator and winding manipulator of the dual-arm robot used in nuclear environment.

[0029] Figure 6 This is a structural diagram of the support assembly and cover removal manipulator assembly of a dual-arm robot used in nuclear environments.

[0030] Figure 7 This is a block diagram of the operation of a dual-arm robot used in a nuclear environment.

[0031] Figure 8 It is a structural schematic diagram of the present invention.

[0032] Fig. 9 It is a schematic diagram of the connection relationship between the casing and the fixing ring.

[0033] Fig.10 It is a schematic diagram of the structure of the end cover.

[0034] Fig.11 Schematic diagram of the appearance of the end cover.

[0035] Among them, 1, sleeve, 11, outer tube body, 12, inner tube body, 13, receiving groove, 2, clamping part, 21, card interface, 22, winding plate, 3, fixing ring, 31, receiving ring, 32, ring groove, 4, end cover, 41, lower cover body, 42, upper cover body, 43, lock hole, 44, cap tube, 45, tube hole, 5, movable cap, 51, brim, 52, connecting rod, 53, spring, 54, lock tongue; 100, right joint mechanical arm assembly; 200, left joint mechanical arm assembly; 300, cover removal mechanical hand assembly; 400, support assembly; 500, recovery shield barrel; 600, rotating motor; 700, large crane hoisting; 800, double arm robot; 900, false top cover platform; 101, third swing arm joint; 102, fourth swing arm joint; 103, two-stage telescopic assembly; 104, wire clamping manipulator; 105, second visual camera; 106, material picking manipulator; 107, winding manipulator; 201, first swing arm joint; 202, connecting shaft; 203, transmission shaft; 204, second swing arm joint; 205, first visual camera; 206, rotating turntable; 207, positioning seat; 301, lifting assembly; 302, upper cover disassembly manipulator; 303, lower cover disassembly manipulator; 401, supporting platform; 402, rotating joint axis; 403, base. DETAILED DESCRIPTION

[0036] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0037] According to one embodiment of the present application, referring to Figure 1 The dual-arm robot 800 of the present invention applied to a nuclear environment includes a support assembly 400, a left joint robotic arm assembly 200, a right joint robotic arm assembly 100, a cover removal robotic arm assembly 300, a rotating motor 600 and a recovery shield barrel 500.

[0038] The above modules will be described in detail below.

[0039] Left joint mechanical arm assembly 200;

[0040] refer to Figure 2It includes 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 by a connecting shaft 202 and a transmission shaft 203, a first visual camera 205 is installed on the second swing arm joint 204, a rotating 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 recovery shielding barrel 500 are arranged on the rotating turntable 206.

[0041] One end of the top of the support platform 401 is connected to the first swing arm joint 201 , and a rotating motor 600 is provided at the connection between the first swing arm joint 201 and the support platform 401 .

[0042] The rotary motor 600 rotates to drive the first swing arm joint 201 and the second swing arm joint 204 to rotate in a plane, thereby driving the recovery shield barrel 500 to rotate in a plane until it moves to a preset position.

[0043] The rotating turntable 206 is used to provide a rotating motion for the recovery shield barrel 500 to realize the winding function of the RIC detector, and the positioning seat 207 is used to position the recovery shield barrel 500 to prevent the recovery container from being out of control during the rotation process.

[0044] refer to Figure 3-Figure 5 , right joint mechanical arm assembly 100;

[0045] It includes a third swing arm joint 101 and a fourth swing arm joint 102 , and the third swing arm joint 101 and the fourth swing arm joint 102 are connected via a connecting shaft 202 and a transmission shaft 203 .

[0046] The other end of the top of the supporting platform 401 is connected to the third swing arm joint 101 , and a rotating motor 600 is provided at the connection between the third swing arm joint 101 and the supporting platform 401 .

[0047] The third swing arm joint 101 and the fourth swing arm joint 102 cooperate with the rotary motor 600 to realize the rotational movement of the third swing arm joint 101 and the fourth swing arm joint 102 within a plane.

[0048] A two-stage telescopic assembly 103 is installed on the top of the fourth swing arm joint 102 , in which a driving motor is installed. The driving motor is connected to the telescopic shaft to realize the up and down movement of the material taking robot 106 .

[0049] A second visual camera 105 , a wire clamping robot 104 and a material picking robot 106 are installed on the lower surface of the fourth swing arm joint 102 ; the material picking robot 106 is connected to the telescopic shaft in the two-stage telescopic assembly 103 , and a wire winding robot 107 is installed above the material picking robot 106 .

[0050] During operation, the telescopic shaft of the secondary telescopic assembly extends out, the material picking robot 106 grabs the head of the RIC detector to be picked up and moves upward, and then the sensor head is clamped by the wire clamping robot 104, the telescopic shaft of the secondary telescopic assembly moves back and forth up and down, and the winding robot 107 winds the cable along an "S" shaped path in the card interface 21 of the aluminum alloy winding plate 22.

[0051] refer to Figure 6 , support assembly 400;

[0052] It includes 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 .

[0053] The support platform 401 mainly plays a supporting role, and one end of the top of the support platform 401 is connected to the first swing arm joint 201, and a rotating motor 600 is arranged at the connection between the first swing arm joint 201 and the support platform 401, and the other end of the top of the support platform 401 is connected to the third swing arm joint 101, and a rotating motor 600 is arranged at the connection between the third swing arm joint 101 and the support platform 401.

[0054] The rotating base 403 can rotate ±180°, thereby driving the supporting platform 401, the first swing arm joint 201 and the third swing arm joint 101 to rotate accordingly.

[0055] refer to Figure 6 , a cover removal robot assembly 300;

[0056] It includes two lifting assemblies 301, which are respectively arranged at the top and bottom of the rotating joint shaft 402. The lifting assembly 301 located at the top of the rotating joint shaft 402 is connected to the upper cover disassembly robot 302, and the lifting assembly 301 located at the bottom of the rotating joint shaft 402 is connected to the lower cover disassembly robot 303.

[0057] The lifting assembly 301 has a built-in motor, which can drive the shaft to move up and down, and drive the upper cover disassembly robot 302 and the lower cover disassembly robot 303 to move up and down, so as to realize the disassembly and assembly of the upper cover body 42 and the lower cover body 41 of the recycling shield barrel 500.

[0058] The upper cover disassembly robot 302 and the lower cover disassembly robot 303 are provided with end cover clamping claws and clamping motors for driving the clamping claws. The clamping claws are used to grasp the upper cover body 42 or the lower cover body 41 .

[0059] Rotating electric machine 600;

[0060] It includes two parts, which are respectively installed at the connection between the first swing arm joint 201 and the support platform 401 and the connection between the third swing arm joint 101 and the support platform 401, and are used to provide rotational power for the first swing arm joint 201 and the third swing arm joint 101.

[0061] refer to Figure 8-Figure 11 , recycle shielding barrels 500;

[0062] It comprises a sleeve 1 which is a cylindrical tubular structure. Both ends of the sleeve 1 are detachably connected to end covers 4 to facilitate placing nuclear contaminated equipment and cables into the shielding barrel device.

[0063] Both ends of the sleeve 1 are provided with fixing rings 3 matched with the end covers 4, and a closed space is formed between the sleeve 1, the end covers 4 and the fixing rings 3 to prevent nuclear pollution leakage, thereby ensuring environmental safety.

[0064] A plurality of clamping parts 2 are detachably provided in the sleeve 1; the clamping parts 2 are used to fix the position of the cable.

[0065] The clamping part 2 is a plurality of hooks detachably mounted in the sleeve 1, and the hooks are located at different heights in the sleeve 1, so as to extend the cable winding length between the clamping parts 2, thereby extending the length of the cable that can be fixed in the sleeve 1, thereby ensuring the fixing effect of the nuclear contaminated cable and avoiding damage to the cable during recovery and movement, which makes the cable unusable.

[0066] By setting the clamping part 2 as a detachable structure, the clamping part 2 can be removed when the shield barrel device needs to be cleaned, thereby facilitating cleaning and maintenance, and the clamping part 2 can be cleaned and maintained separately, thereby effectively preventing nuclear contamination residues and causing potential harm to personnel and the environment.

[0067] The sleeve 1 comprises an outer tube body 11 and an inner tube body 12 which are sleeved with each other, and the clamping part 2 is arranged on the inner tube body 12. The ability of the shielding barrel device to isolate nuclear radiation is effectively guaranteed by the inner and outer double-layer structure.

[0068] The fixing ring 3 is provided with an annular groove 32 cooperating with the end cover 4 ; a locking tongue 54 cooperating with the annular groove 32 is movably provided in the end cover 4 , and a movable cap 5 drivingly connected with the locking tongue 54 is provided in the end cover 4 .

[0069] Therefore, under normal conditions, the connection between the end cover 4 and the fixing ring 3 is achieved through the connection between the annular groove 32 and the locking 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 removed, the locking tongue 54 is retracted relative to the position under the normal state by triggering the movable cap 5, so that the locking tongue 54 is disconnected from the annular groove 32, and the end cover 4 can be removed conveniently and quickly.

[0070] The basic principle is to provide a conveniently detachable end cap 4 to serve as a carrier container when retrieving the RIC detector (RIC is the core measurement system) to prevent the nuclear contamination source on the RIC detector and its attached cables from contacting the outside world, causing environmental pollution and personal injury. And because the sleeve 1 provided in this solution is a double-layer structure inside and outside, it can effectively ensure the long-term nuclear contamination isolation capability of the device, and can also be used as a sealed container during the later storage process.

[0071] In order to facilitate installation and removal of the card connection part 2, the card connection part 2 is configured to include a plurality of card interfaces 21. The card interfaces 21 are the same as the aforementioned hooks for fixing the cable position. By providing a plurality of card interfaces 21 on one card connection part 2, the number of card connections 2 can be reduced, installation and removal can be facilitated, and installation efficiency can be improved.

[0072] The card interface 21 includes at least two in opposite directions, so that the installation order and direction of the cables are not restricted. As long as the cables are connected to the card interfaces 21 in different directions, the cables are subjected to fixing forces in different directions, which can ensure the fixing effect of the cable position, thereby further simplifying the operation difficulty, improving the operation efficiency and fixing effect, and effectively ensuring the service life of the nuclear contaminated cables.

[0073] The clamping portion 2 is a winding plate 22 , and the clamping interface 21 is disposed at two ends of the winding plate 22 .

[0074] The winding plate 22 is a long strip-shaped plate structure, and its length is the same as that of the inner tube body 12, so as to facilitate the cooperation between the card interface 21 and the fixing ring 3 to limit the moving direction of the cable, thereby ensuring the fixing effect of the cable; the bottom surface of the winding plate 22 is installed on the inner tube body 12 by bolts, so as to facilitate disassembly and assembly.

[0075] The clamping parts 2 are parallel to each other and evenly distributed on the inner tube body 12, thereby ensuring that the cables are arranged neatly and regularly, which is convenient for installation and disassembly.

[0076] The length of the inner tube body 12 along the axial direction is smaller than that of the outer tube body 11, and a receiving groove 13 is provided at the connection between the inner tube body 12 and the outer tube body 11. The fixing ring 3 includes a receiving ring 31 abutting against the sleeve 1, and the outer side surface of the lower end of the receiving ring 31 abuts against the receiving groove 13. The minimum distance from the bottom surface of the receiving ring 31 to the end of the card interface 21 deviating from the inner tube body 12 is 1.05 times the diameter of the RIC detector cable, thereby ensuring effective fixation of the cable.

[0077] The end cover 4 includes an upper cover body 42 and a lower cover body 41 that cooperate with each other. There is a cavity between the upper cover body 42 and the lower cover body 41. The movable cap 5 and the locking tongue 54 are both arranged in the cavity. The locking tongue 54 is sleeved with the locking hole 43 arranged on the upper cover body 42; a pipe hole 45 is arranged on the upper cover body 42 at a position above the movable cap 5.

[0078] 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 provided 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 as to conveniently limit the moving position of the movable cap 5 and ensure mechanical reliability.

[0079] A spring 53 is sleeved inside the movable cap 5, and the lower end of the spring 53 is connected to the lower cover body 41. The lower end of the movable cap 5 is a brim 51, and the brim 51 and the lock tongue 54 are hinged through the connecting rod 42. By pressing the movable cap 5, the movable cap 5 moves downward along the cap tube 44, squeezing the spring 53, driving one end of the connecting rod 42 to move downward, and the other end will pull the lock tongue 54, so that the lock tongue 54 is retracted into the end cover 4, so that it can be installed and separated from the annular groove 32. When the movable cap 5 is released, the spring 53 rebounds, driving the movable cap 5, the connecting rod 52 and the lock tongue 54 to reset.

[0080] A thickened lead shielding layer is provided inside the outer tube body 11 and the lower cover body 41 to effectively prevent nuclear pollution leakage; the upper cover body 42, the inner tube body 12, the fixing ring 3 and the outer side wall of the outer tube body 11 are all made of 304 stainless steel, which has the characteristics of strong corrosion resistance and easy cleaning and maintenance to ensure the safety of the overall structure and the characteristics of easy transportation.

[0081] According to one embodiment of the present application, referring to Figure 7 , the working principle of this scheme is:

[0082] Install the dual-arm robot 800 to the false roof: manually operate the large crane 700 to move the dual-arm robot 800 to the false roof platform 900 and complete the equipment installation.

[0083] Loading of recycling shielding barrel 500: It is completed with the assistance of man and machine. The recycling shielding barrel 500 is moved to any position above the false top cover platform 900 (within the coverage range of the robot) by manually operating the large crane hoist 700, and then the first visual camera 205 and the second visual camera 105 cooperate to accurately locate the current position of the recycling shielding barrel 500; the dual-arm robot 800 automatically moves to the bottom of the recycling shielding barrel 500 to receive the material, and the manually operated large crane hoist 700 places the empty recycling shielding barrel 500 on the rotating turntable 206 at the end of the dual-arm robot 800, and fixes it through multiple positioning seats 207.

[0084] Removing the upper and lower end covers of the recovery shielding barrel 500: the rotating motor 600 operates to move the upper cover body 42 and the lower cover body 41 of the recovery shielding barrel 500 to the positions of the upper cover disassembly robot 302 and the lower cover disassembly robot 303, and the lifting assembly 301 operates to move the upper cover disassembly robot 302 downward and the lower cover disassembly robot 303 upward, press the movable cap 5 to move the movable cap 5 downward along the cap tube 44, squeeze the spring 53, drive one end of the connecting rod 42 to move downward, and the other end will pull the locking tongue 54 to retract the locking tongue 54 into the end cover 4, so that it can be separated from the annular groove 32, thereby realizing the removal of the upper cover body 42 and the lower cover body 41.

[0085] Visual positioning of the RIC detection sensor to be picked up: After the RIC detector to be picked up is manually marked on the operation interface, the robot automatically positions it through visual scanning.

[0086] Execute RIC detector winding: the telescopic shaft of the secondary telescopic assembly extends out, the material picking robot 106 grabs the head of the RIC detector to be picked up and moves upward, then the sensor head is clamped by the wire clamping robot 104, the telescopic shaft of the secondary telescopic assembly moves up and down reciprocatingly, and the winding robot 107 winds the cable along an "S" shaped path in the card interface 21 of the aluminum alloy winding plate 22.

[0087] After the installation is complete, the upper cover 42 and the lower cover 41 of the recovery shield barrel 500 are installed: this step is opposite to the disassembly process of the upper cover 42 and the lower cover 41, and will not be repeated here.

[0088] Retrieval of the full recovery shielding barrel 500: Manually operate the large crane hoist 700 to move to any position above the false top cover (within the coverage range of the robot), accurately locate the grabbing manipulator of the large crane hoist 700 through vision, and then the grabbing manipulator moves down to grab the recovery shielding barrel 500 for recovery.

[0089] Dismantling the dual-arm robot 800: Manually operate the large crane 700 to lift and recover the robot from the false roof platform 900.

[0090] The present invention can automatically complete the disassembly and assembly of the cover of the recovery shield barrel 500 and the recovery of the RIC detector winding. The whole process is fully automated and does not require manual assistance. The overall action is sensitive, the spatial coverage range is large, and the positioning accuracy is high. It also adopts a modular design, which makes it easy to replace accessories and convenient maintenance. A high-definition monitoring camera is equipped on the robotic arm to monitor the robot's action process throughout the entire process.

[0091] Although the specific implementation of the invention is described in detail in conjunction with the drawings, it should not be understood as limiting the scope of protection of this patent. Within the scope described in the claims, various modifications and variations that can be made by those skilled in the art without creative work still fall within the scope of protection of this patent.

Claims

1. A dual-arm robot for use in a nuclear environment, characterized in that: It includes a support component, a left joint mechanical arm component and a right joint mechanical arm component; the support component is provided with a cover removal mechanical arm component; the left joint mechanical arm component is movably provided at one end of the support component, and the right joint mechanical arm component is movably provided at the other end of the top of the support component; The left joint mechanical arm assembly includes 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 by a connecting shaft and a transmission shaft; a first visual camera is installed on the second swing arm joint, and a rotating turntable is arranged at the edge end of the second swing arm joint, and at least three positioning seats for positioning and recovering the shield barrel are arranged on the rotating turntable; The right joint mechanical arm assembly includes 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 by a connecting shaft and a transmission shaft; a two-stage telescopic assembly is installed on the top of the fourth swing arm joint, and a second visual camera, a wire clamping manipulator and a material picking manipulator are installed on the lower surface of the fourth swing arm joint; the material picking manipulator is connected to the telescopic shaft in the two-stage telescopic assembly, and a winding manipulator is installed above the material picking manipulator; The support assembly comprises a rotary joint shaft movably mounted on a base, and a support platform is arranged on the top of the rotary joint shaft; One end of the top of the support platform is connected to the first swing arm joint, and a rotating motor is provided at the connection between the first swing arm joint and the support platform; The other end of the top of the support platform is connected to the third swing arm joint, and a rotating motor is arranged at the connection between the third swing arm joint and the support platform; The cover removal robot assembly includes lifting assemblies respectively arranged at the top and bottom of the rotating joint shaft, the lifting assembly located at the top of the rotating joint shaft is connected to the upper cover removal robot, and the lifting assembly located at the bottom of the rotating joint shaft is connected to the lower cover removal robot; The recovery shield barrel comprises a sleeve, both ends of the sleeve are detachably connected to the end cover, both ends of the sleeve are provided with fixing rings matched with the end cover, and a plurality of clamping parts are detachably provided in the sleeve; the sleeve comprises an outer tube body and an inner tube body which are sleeved with each other, and the clamping part is provided on the inner tube body; the fixing ring is provided with an annular groove matched with the end cover; a locking tongue matched with the annular groove is movably provided in the end cover, and a movable cap which is transmission-connected with the locking tongue is provided in the end cover; The clamping part includes a plurality of clamping interfaces, the clamping interfaces include at least two and are in opposite directions; the clamping part is a winding plate, the clamping interfaces are arranged at both ends of the winding plate; the clamping parts are parallel to each other and evenly distributed on the inner tube body; The length of the inner tube body along the axial direction is smaller than that of the outer tube body, and a receiving groove is provided at the connection between the inner tube body and the outer tube body; The fixing ring comprises a receiving ring abutting against the sleeve, and the outer side surface of the lower end of the receiving ring abuts against the receiving groove.

2. The dual-arm robot for use in a nuclear environment according to claim 1, characterized in that: The end cover comprises an upper cover body and a lower cover body which cooperate with each other, a cavity is formed between the upper cover body and the lower cover body, the movable cap and the locking tongue are both arranged in the cavity; a tube hole is arranged on the upper cover body at a position above the movable cap.

3. The dual-arm robot for use in a nuclear environment according to claim 2, characterized in that: A spring is sleeved inside the movable cap, and the lower end of the spring is connected to the lower cover body; The lower end of the movable cap is a brim, and the brim is hinged to the lock tongue through a connecting rod; A thickened lead shielding layer is provided inside the outer tube body and the lower cover body; The upper cover body, the inner tube body, the fixing ring and the outer side wall of the outer tube body are all made of stainless steel.

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