Automatic loading and delivery control method of marker

Abstract

The invention discloses a method for controlling automatic loading and delivery of markers, comprising a detection vehicle and an intelligent marker delivery device and a control box on the detection vehicle, wherein the intelligent marker delivery device comprises a protective box, a delivery seat driving mechanism, a marker delivery seat, a torque regulator and a slewing ring; when the detection vehicle detects nuclear radiation, the control box controls a hatch cover to open, and a transmission shaft drives the marker delivery seat and the torque regulator to rotate in the opposite direction, and the hatch cover rotates to open the delivery port; the slewing ring rotates synchronously with the torque regulator under the action of friction, until a stop block in the slewing ring abuts against another stop block, the slewing ring stops, the torque regulator idles, a notch in the positioning ring corresponds to a marker placement slot in the marker delivery seat, and during the continuous rotation of the marker delivery seat, the marker rods in each marker placement slot correspond to the notch, tilt toward the torque regulator, and fall from the delivery port to achieve delivery.

Description

Technical Field

[0001] The invention relates to the field of nuclear radiation detection, and in particular to a method for controlling automatic loading and delivery of a marker. Background Art

[0002] With the widespread application of nuclear technology, nuclear safety issues have attracted more and more attention. In order to prevent nuclear accidents and reduce the impact of accidents on social safety and stability, nuclear radiation environment monitoring is particularly important. When detecting nuclear radiation areas, nuclear radiation markers are needed to mark different radiation areas according to their radiation types, degrees and other characteristics.

[0003] Specifically, the nuclear radiation marker includes a marker base, a marker rod and a marker light connected in sequence from bottom to top, and the marker base is hemispherical. Most existing marker delivery devices are manually delivered in the vehicle; some have achieved automatic delivery of the marker, but both the automatic delivery device and the manual delivery device are hung outside the vehicle. Since the operating environment may have nuclear, biological and chemical cross-contamination areas, reloading or replacing the marker needs to be carried out away from the contaminated area. This operation method reduces the timeliness and accuracy of radiation measurement. A Chinese patent application with application number 2020113308374 discloses a method for controlling and using a radiation marker, including a marker structure that can realize automatic advance and retreat, the marker structure including a body, a plurality of marker bodies can be synchronously slidably connected to the body, a driving mechanism for driving the plurality of marker bodies to advance and retreat is connected to the body, and a control box for controlling the start and stop of a driving motor in the driving mechanism is also connected to the body; a marker body discharge outlet is opened at one end of the body along the sliding direction of the marker body so that the marker body can be discharged from the marker body under the action of the driving mechanism The marker structure is loaded on a detection vehicle and the marker body outlet is connected to the outside so as to throw the marker body out. The detection vehicle is also loaded with a nuclear radiation detection device, and the signal of the nuclear radiation detection device is connected to the control box. The control box is written with a radiation level delivery interval value. The detection vehicle travels to the radiation detection area. When the radiation level detected by the nuclear radiation detection device meets the radiation level delivery interval value, the control box controls the drive motor to start and throws out a marker body from the marker body outlet. The thrown marker body is used to mark the boundary of the radiation detection area.

[0004] In the above control method, the automatic advance and retreat marker structure used can release multiple markers at one time, but the entire release mechanism is rectangular, the release device is heavy, bulky, and has an abrupt appearance. At the same time, the device is also hung outside the vehicle, and the release port is not closed. When the vehicle wades through water, the device and the marker will be at risk of failure due to immersion in water. In addition, when loading the marker, the release device needs to leave the nuclear radiation area before loading, and the efficiency of loading the marker is low.

[0005] Based on the above problems, the applicant considered installing the marker delivery device in the vehicle to ensure that the marker can be loaded in the vehicle. At the same time, the overall structure of the delivery mechanism was improved to reduce the volume of the delivery mechanism. However, if the existing delivery mechanism is directly installed in the vehicle and the exhaust port is extended outside the vehicle, during the delivery process, external nuclear contaminated air will enter the vehicle through the exhaust port, affecting the safety of the personnel in the detection vehicle. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a method for controlling the automatic loading and delivery of markers, so as to solve the problems in the prior art of low marker loading efficiency, large size, poor sealing and inability to realize automatic loading in the vehicle.

[0007] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0008] A method for controlling the automatic loading and delivery of markers, comprising a detection vehicle and an intelligent marker delivery device and a control box installed on the detection vehicle, wherein the intelligent marker delivery device is installed in the vehicle and comprises a protective box, a delivery seat driving mechanism, a marker delivery seat and a torque regulator; the delivery seat driving mechanism comprises a transmission shaft, which is placed in the protection box and vertically arranged, and the axis overlaps with the center of the marker delivery seat, and a suspension frame with a lower end fixedly connected to the marker delivery seat is sleeved and fixed on the transmission shaft, and the end of the transmission shaft is fixedly connected to the middle part of the torque regulator; the marker delivery seat is placed in the protection box and is in a circular ring shape, and a plurality of arc-shaped marker placement grooves are provided on the inner circumference of the marker delivery seat, and each marker placement groove is connected to a through hole in the middle of the marker delivery seat; a support seat with a lower end fixedly connected to the bottom of the protection box is provided in the middle through hole of the marker delivery seat, and two stop blocks are provided on the support seat at intervals, and the two stop blocks are located on the same circumference, and the torque regulator is placed between the two stop blocks. The circumference formed by the block; a slewing ring is sleeved on the torque regulator, a stopper matched with the stop block is fixed on the slewing ring, a horizontally arranged positioning ring is connected to the outside of the slewing ring, and a notch is provided on the positioning ring; the protective box is composed of a cover-shaped shell and a bottom plate fixed to the bottom of the cover-shaped shell, a loading port for loading the marker is provided on the cover-shaped shell, the bottom of the loading port is located above the marker delivery seat, and a sealing plate for closing the loading port is provided on the cover-shaped shell; a delivery port corresponding to the middle through hole of the marker delivery seat and adjacent to one of the marker placement grooves is provided on the bottom plate, the delivery port extends out of the chassis of the inspection vehicle or the side deck of the inspection vehicle through a guide tube, and a hatch cover corresponding to the delivery port is provided next to the delivery port, the hatch cover is connected to the bottom plate through a connecting rod driving mechanism, and under the action of the connecting rod driving mechanism, the hatch cover can be rotated to open or close the delivery port; the control box is installed in the inspection vehicle and is wirelessly connected to the delivery seat driving mechanism and the connecting rod driving mechanism;

[0009] Before reaching the nuclear radiation detection area, or after the marker is released, the control box sends a rotation command to the release seat drive mechanism, and sends a release port closing command to the connecting rod drive mechanism, so that the transmission shaft drives the marker release seat and the torque regulator to rotate, and the connecting rod drive mechanism drives the hatch to close the release port; at this time, under the friction between the torque regulator and the slewing ring, the slewing ring rotates synchronously, and the block in the slewing ring is between the stop blocks; when the block in the slewing ring rotates to one of the stop blocks and abuts against the stop block, the friction torque between the torque regulator and the slewing ring is less than the stop resistance torque between the block and the stop block, the slewing ring is stationary, the notch on the positioning ring is placed between two adjacent marker placement grooves, and the torque regulator is idle; before preparing for loading, the loading personnel in the vehicle open the sealing plate, and after the marker release seat rotates, the loading personnel continuously load the marker into the marker placement groove on the marker release seat through the loading port until the marker release seat rotates one circle, the marker is loaded, and the sealing plate is closed;

[0010] When the inspection vehicle detects nuclear radiation, the control box sends a reverse command to the delivery seat drive mechanism and a hatch opening command to the connecting rod drive mechanism. The transmission shaft drives the marker delivery seat and the torque regulator to rotate in the opposite direction, and the connecting rod drive mechanism drives the hatch to rotate to open the delivery port. At this time, the slewing ring rotates synchronously with the torque regulator under the action of friction until the block in the slewing ring abuts against another stop block, the slewing ring stops, the torque regulator idles, and the notch of the positioning ring corresponds to a marker placement slot in the marker delivery seat. During the continuous rotation of the marker delivery seat, the marker rods in each marker placement slot correspond to the notch, tilt toward the torque regulator, and fall from the delivery port to achieve delivery.

[0011] Furthermore, the suspension frame is circular and located above the torque adjuster, and includes an upper flange and a lower flange that are spaced apart and sleeved on the transmission shaft. A plurality of horizontally arranged upper horizontal plates and lower horizontal plates are detachably installed on the upper flange and the lower flange, respectively. The upper horizontal plates and the lower horizontal plates are arranged in a one-to-one correspondence and are located between two adjacent marker placement grooves of the marker placement seat; a vertical pole is detachably installed between every two corresponding upper horizontal plates and lower horizontal plates, and a connecting column 56 is provided at the lower end of each lower horizontal plate, the lower end of which is detachably connected to the marker placement seat.

[0012] Furthermore, the upper horizontal plate and the lower horizontal plate are both U-shaped, with a U-shaped groove formed in the middle; the U-shaped groove of the upper horizontal plate and the U-shaped groove of the lower horizontal plate are arranged relatively, and the upper and lower ends of the vertical pole are respectively clamped in the U-shaped groove of the upper horizontal plate and the U-shaped groove of the lower horizontal plate, and a vertically arranged threaded hole is provided at the upper and lower ends of the vertical pole. A bolt is passed through the upper horizontal plate and the lower horizontal plate between the vertical pole and the upper horizontal plate, and then the bolt is fixed after being threadedly matched with the threaded hole.

[0013] Furthermore, the cover-shaped shell is circular and consists of an upper shell and a lower shell. The diameter of the upper shell is smaller than the diameter of the lower shell. The lower shell covers the marker placement seat, and the upper shell is in the shape of a bottle cap.

[0014] Furthermore, the loading port is located on the upper shell body, and is composed of a lower rectangular port, a middle arc-shaped port and an upper rectangular port. The upper rectangular port is used for the marker light to pass through, the middle arc-shaped port is used for the marker rod to pass through, and the lower rectangular port is used for the marker base to pass through.

[0015] Furthermore, the sealing plate is rotatably mounted on the upper shell, and a sealing strip matching the filling port is provided on the inner side of the sealing plate, wherein the shape and size of the sealing strip are adapted to the filling port.

[0016] Furthermore, there is a lower recess on the top surface of the upper shell, and the placement seat driving mechanism also includes a stepper motor and a reducer. The stepper motor is connected to the reducer and fixed to the lower recess of the upper shell through a fixed plate; the output shaft of the reducer passes through the lower recess and is connected to the transmission shaft through a coupling.

[0017] Furthermore, the connecting rod drive mechanism includes a driving motor fixed on one side of the rotating end of the hatch cover, and a connecting rod assembly having one end connected to the output end of the driving motor and the other end connected to the inner side of the hatch cover; the connecting rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is sleeved and fixed on the output shaft of the driving motor, and the other end has an annular groove, one end of the second connecting rod is sleeved in the annular groove and is rotatably connected to the first connecting rod, and the other end is rotatably connected to the inner side of the hatch cover.

[0018] Furthermore, a first distance sensor is provided on the opposite side of the drive motor and next to the delivery port. When the distance between the hatch cover and the first distance sensor is within the set distance, the first distance sensor is triggered and sends a signal to the control box, which then controls the start and stop of the drive motor and the rotation direction of the output shaft of the drive motor to realize automatic opening and closing of the hatch cover.

[0019] Furthermore, a distance sensor is provided on each stop block. When the stop block abuts against one of the stop blocks, the distance sensor on the stop block is triggered and sends a signal to the control box, which controls the start and stop and rotation direction of the power part in the delivery seat drive mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the marker intelligent delivery device in the embodiment;

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the marker intelligent delivery device after removing the cover-shaped shell in the embodiment;

[0022] Figure 3 It is a schematic diagram of the installation structure of the marker placement seat, the torque regulator and the slewing ring in the embodiment;

[0023] Figure 4 It is a schematic diagram of the cross-sectional structure of the intelligent marker delivery device in the embodiment;

[0024] Figure 5 Schematic diagram of the installation structure of the connecting rod driving mechanism and the hatch cover in the embodiment;

[0025] Figure 6 It is a structural schematic diagram of the marker placing seat and the slewing ring after the marker is loaded in the embodiment;

[0026] Figure 7 It is a schematic diagram of the intelligent marker delivery device in the embodiment guiding the marker out of the vehicle through the guide tube. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0028] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invention product is usually placed when used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. In addition, the terms "horizontal", "vertical", etc. do not mean that the components are absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted. In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] like Figure 1-Figure 7As shown, this embodiment provides a method for controlling automatic loading and delivery of markers, including a detection vehicle and an intelligent marker delivery device and a control box 14 installed on the detection vehicle, wherein the intelligent marker delivery device is installed in the vehicle, including a protective box, a delivery seat driving mechanism 4, a marker delivery seat 10 and a torque regulator 6; the delivery seat driving mechanism 4 includes a transmission shaft 43, the transmission shaft 43 is placed in the protection box, is vertically arranged, and the axis overlaps with the center of the marker delivery seat 10, and a suspension frame 5 is fixedly sleeved on the transmission shaft 43, and the lower end of the transmission shaft 43 is fixedly connected to the marker delivery seat 10, and the end of the transmission shaft 43 is fixedly connected to the middle part of the torque regulator 6; the marker delivery seat 10 is placed in the protection box, is circular The marker placing seat 10 is annular, and a plurality of arc-shaped marker placing grooves 101 are arranged on the inner circumference of the marker placing seat 10, and each marker placing groove 101 is connected to the through hole in the middle of the marker placing seat 10; a support seat 8 is provided in the middle through hole of the marker placing seat 10, and two stop blocks 81 are arranged on the support seat 8 at intervals, and the two stop blocks 81 are located on the same circumference, and the torque regulator 6 is placed in the circumference formed by the two stop blocks 81; a rotating ring 7 is sleeved on the torque regulator 6, and a stop block 73 matching with the stop block 81 is fixed on the rotating ring 7, and a horizontally arranged positioning ring 71 is connected to the outside of the rotating ring 7 (the positioning ring 71 is connected to the outside of the rotating ring 7 by a plurality of water stop blocks 81 installed on the outside of the rotating ring 7). A flat connecting rod is connected), and a notch 72 is provided on the positioning ring 71; the protective box is composed of a cover-shaped shell 1 and a bottom plate 2 fixed to the bottom of the cover-shaped shell 1, and a loading port 13 for loading the marker is provided on the cover-shaped shell 1, and the bottom of the loading port 13 is located above the marker delivery seat 10, and a sealing plate (not shown in the figure) for closing the loading port 13 is provided on the cover-shaped shell 1; a delivery port 21 corresponding to the middle through hole of the marker delivery seat 10 and adjacent to one of the marker placement grooves 101 is provided on the bottom plate 2, and the delivery port 21 extends out of the chassis or the side deck of the inspection vehicle through a guide tube 22, and a hatch cover 3 corresponding to the delivery port 21 is provided next to the delivery port 21, and the hatch cover 3 is connected to the bottom plate 2 through a guide tube 22. The connecting rod driving mechanism 9 is connected to the bottom plate 2. Under the action of the connecting rod driving mechanism 9, the hatch cover 3 can be rotated to open or close the delivery port 21; the control box 14 is installed in the detection vehicle and is wirelessly connected to the delivery seat driving mechanism 4 and the connecting rod driving mechanism 9; before reaching the nuclear radiation detection area, or after the marker is delivered, the control box 14 sends a rotation command to the delivery seat driving mechanism 4, and sends a delivery port 21 closing command to the connecting rod driving mechanism 9, so that the transmission shaft 43 drives the marker delivery seat 10 and the torque regulator 6 to rotate, and the connecting rod driving mechanism 9 drives the hatch cover 3 to close the delivery port 21; at this time, under the friction between the torque regulator 6 and the slewing ring 7, the slewing ring 7 rotates synchronously, and the stopper 73 in the slewing ring 7 is between the stopper 81;When the block 73 in the slewing ring 7 rotates to one of the stop blocks 81 and contacts the stop block 81, the friction torque between the torque regulator 6 and the slewing ring 7 is less than the stopping resistance torque between the block 73 and the stop block 81, the slewing ring 7 is stationary, the notch 72 on the positioning ring 71 is placed between two adjacent marker placement grooves 101, and the torque regulator 6 idles; while the marker placement seat 10 rotates, the sealing plate is opened, and the marker is continuously loaded into the marker placement groove 101 on the marker placement seat 10 through the loading port 13, until the marker placement seat 10 rotates one circle, the marker loading is completed, and the sealing plate is closed;

[0030] When the detection vehicle detects nuclear radiation, the control box 14 sends a reverse command to the delivery seat drive mechanism 4 and sends a hatch cover 3 opening command to the connecting rod drive mechanism 9, the transmission shaft 43 drives the marker delivery seat 10 and the torque regulator 6 to rotate in the opposite direction, and the connecting rod drive mechanism 9 drives the hatch cover 3 to rotate to open the delivery port 21; at this time, the slewing ring 7 rotates synchronously with the torque regulator 6 under the action of friction until the block 73 in the slewing ring 7 abuts against another stop block 81, the slewing ring 7 is stationary, the torque regulator 6 idles, the notch 72 of the positioning ring 71 corresponds to a marker placement groove 101 in the marker delivery seat 10, and during the continuous rotation of the marker delivery seat 10, the marker rods in each marker placement groove 101 correspond to the notch 72, tilt toward the torque regulator 6, and fall from the delivery port 21 to achieve delivery.

[0031] The automatic filling and delivery control method of this embodiment has the following advantages:

[0032] 1. The delivery device is circular in shape, placed vertically, and small in size. It can continuously add markers and deliver markers under the drive of the driving mechanism.

[0033] 2. The transmission shaft 43 is directly connected to the torque regulator 6, which can provide torque for the torque regulator 6 and drive the torque regulator 6 to rotate forward and backward; at the same time, a suspension frame 5 is sleeved and fixed on the transmission shaft 43, and the suspension frame 5 is connected and fixed to the marker delivery seat 10 through the connecting column 56, so that when the transmission shaft 43 rotates, the suspension frame 5 and the marker delivery seat 10 fixed thereto will also rotate synchronously, which can meet the purpose of driving the marker delivery seat and the torque regulator 6 at the same time by one power device. The vertical poles 55 and the connecting columns 56 in the suspension frame 5 are set one by one and are located between the marker loading spaces, which can effectively ensure that the suspension frame 5 will not interfere with the marker when the marker is loaded and delivered.

[0034] 3. Install the intelligent marker delivery device in the vehicle, and deliver it through only one delivery port 21 outside the vehicle. When loading the marker, close the hatch 3 and open the sealing plate. After the loading is completed, close the sealing plate, and when the marker needs to be delivered, open the hatch 3 to deliver the marker. This operation can effectively prevent the entry of external polluted air when loading the marker, affecting the health of the loading personnel, and realize the loading of the marker in the vehicle, solving the problem that when the existing marker is loaded, the vehicle needs to be driven away from the contaminated area, affecting the state efficiency.

[0035] 4. After the delivery device is installed in the vehicle, if it encounters a puddle area, it can directly send a command to the connecting rod drive mechanism 9 through the control box 14 to close the hatch 3. Therefore, when passing through the area, the muddy water splashed from the outside can only splash to the outside of the hatch 3 and cannot enter the delivery device. This solves the problem of the inspection vehicle passing through wading or dangerous areas, and when a marker is installed, the hatch 3 is closed to achieve the function of sealing and protecting the device.

[0036] 5. The control box 14 can be connected with the delivery seat drive mechanism 4 and the connecting rod drive mechanism 9, so as to issue corresponding instructions to the delivery seat drive mechanism 4 and the connecting rod drive mechanism 9 according to the filling and delivery conditions, thereby realizing intelligent control.

[0037] 6. After the slewing ring 7 is matched with the torque regulator 6, the notch 72 of the positioning ring 71 on the slewing ring 7 is located between the two marker placement grooves 101 when in the loading position, and the rotation direction of the marker delivery seat 10 is clockwise. During the rotation, the marker rod always rests on the positioning ring 71 until it rotates one circle and then rotates in the opposite direction. At this time, the marker delivery seat 10 rotates toward the notch 72. After the rotation, each marker flagpole continuously corresponds to the notch 72, and after tilting from the notch 72, it falls from the delivery port 21 to the outside of the inspection vehicle.

[0038] like Figure 7 As shown, the upper end of the guide tube 22 is fixedly connected to the outside of the hatch cover, placing the mask inside, and the end extends outward to the delivery port.

[0039] like Figure 2As shown, the suspension frame 5 in this embodiment is circular, located above the torque regulator 6, and includes an upper flange 51 and a lower flange 52 that are sleeved on the transmission shaft 43 at intervals. A plurality of upper horizontal plates 53 and lower horizontal plates 54 that are horizontally arranged are detachably mounted on the upper flange 51 and the lower flange 52, respectively. The upper horizontal plates 53 and the lower horizontal plates 54 are arranged one by one and are located between two adjacent marker placement grooves 101 of the marker placement seat 10; a vertical pole 55 is detachably mounted between each two corresponding upper horizontal plates 53 and lower horizontal plates 54, and a connecting column 56 that is detachably connected to the marker placement seat 10 is provided at the lower end of each lower horizontal plate 54. The flange is horizontally arranged and sleeved and fixed with the transmission shaft 43, providing sufficient installation position for the horizontal plate. At the same time, it can effectively ensure that the horizontal plate and the vertical pole 55 are fixed to the transmission shaft 43 through the flange, so that when the transmission shaft 43 rotates, the horizontal plate, the vertical pole 55 and the connecting column 56 rotate synchronously.

[0040] The upper horizontal plate 53 and the lower horizontal plate 54 are both U-shaped, with a U-shaped groove formed in the middle; the U-shaped groove of the upper horizontal plate 53 and the U-shaped groove of the lower horizontal plate 54 are arranged oppositely, and the upper and lower ends of the vertical rod 55 are respectively stuck in the U-shaped groove of the upper horizontal plate 53 and the U-shaped groove of the lower horizontal plate 54, and a vertically arranged threaded hole is provided at the upper and lower ends of the vertical rod 55. A bolt is passed through the upper horizontal plate 53 and the lower horizontal plate 54 between the vertical rod 55 and the upper horizontal plate 53, and between the vertical rod 55 and the lower horizontal plate 54, and then fixed with the threaded hole. The vertical rod 55 and the horizontal plate are initially fixed by a clamping fit, and at the same time, they are also locked and fixed by fasteners. The connection structure is stable and not easy to fall off during the rotation process, which affects the use of the marker placement seat 10. At the same time, the horizontal plate is U-shaped, the overall structural strength is better, and it has a higher service life.

[0041] An internal threaded barrel is provided under the upper flange 51 and is sleeved on the transmission shaft 43 and fixed to the transmission shaft 43 by threaded cooperation. A cushion block is provided between the internal threaded barrel and the upper flange 51 and is sleeved on the transmission shaft 43. The upper and lower sides of the cushion block are in contact with the upper flange 51 and the internal threaded barrel respectively. The flange and the horizontal plate are connected and fixed by fasteners, and the installation structure is stable and has a long service life.

[0042] In order to ensure that the drive received by each position of the marker delivery seat 10 is balanced, the connecting column 56 is evenly arranged circumferentially with the axis of the transmission shaft 43 as the center, and each connecting column 56 has a connecting head at both ends. The connecting head at the upper end of the connecting column 56 passes through the lower horizontal plate 54 and is fixed with a nut, and the connecting head at the lower end of the connecting column 56 is plugged and fixed on the marker delivery seat.

[0043] The cover-shaped shell 1 is circular, and consists of an upper shell 11 and a lower shell 12. The diameter of the upper shell 11 is smaller than the diameter of the lower shell 12. The lower shell 12 covers the marker placement seat 10, and the upper shell 11 is in the shape of a bottle cap.

[0044] The loading port 13 is located on the upper shell 11, and consists of a lower rectangular port, a middle arc port and an upper rectangular port. The upper rectangular port is used for the marker light to pass through, the middle arc port is used for the marker rod to pass through, and the lower rectangular port is used for the marker base to pass through.

[0045] The sealing plate is rotatably mounted on the upper shell 11 , and a sealing strip matching the filling port 13 is provided on the inner side of the sealing plate. The shape and size of the sealing strip are adapted to the filling port 13 .

[0046] There is a concave portion on the top surface of the upper shell 11. The placement seat driving mechanism 4 also includes a stepper motor 41 and a reducer 42. The stepper motor 41 is connected to the reducer 42 and fixed to the concave portion of the upper shell 11 through a fixed disk. After the output shaft of the reducer 42 passes through the concave portion, it is connected to the transmission shaft 43 through a coupling. A bearing is also sleeved on the transmission shaft 43 and above the upper flange 51. A fixed disk is sleeved on the bearing. A connecting disk is fixed on the reducer 42. The connecting disk and the fixed disk are connected and fixed by multiple columns. Multiple fixing holes are provided on the fixed disk. The fixed disk can be easily fixedly connected with other components through a connecting piece, thereby providing a certain support force for the transmission shaft 43 and the drive motor 91 and the reducer above the transmission shaft 43, so that the operation of the drive device is more stable.

[0047] The connecting rod driving mechanism 9 includes a driving motor 91 fixed to one side of the rotating end of the hatch cover 3, and a connecting rod assembly having one end connected to the output end of the driving motor 91 and the other end connected to the inner side of the hatch cover 3; the connecting rod assembly includes a first connecting rod 92 and a second connecting rod 93, one end of the first connecting rod 92 is sleeved and fixed on the output shaft of the driving motor 91, and the other end has an annular groove, one end of the second connecting rod 93 is sleeved in the annular groove and is rotatably connected to the first connecting rod 92, and the other end is rotatably connected to the inner side of the hatch cover 3.

[0048] A first distance sensor is provided on the opposite side of the drive motor 91 and beside the delivery port 21. When the distance between the hatch 3 and the first distance sensor is within the set distance, the first distance sensor is triggered and sends a signal to the control box 14. The control box 14 controls the start and stop of the drive motor 91 and the rotation direction of the output shaft of the drive motor 91 to realize the automatic opening and closing of the hatch 3. A distance sensor is provided on each stop block 81. When the stop block 73 abuts against one of the stop blocks 81, the distance sensor on the stop block 81 is triggered and sends a signal to the control box 14. The control box 14 controls the start and stop and the rotation direction of the power part in the delivery seat drive mechanism 4.

[0049] After adopting the above arrangement, when the slewing ring 7 rotates to the set angle and triggers the corresponding sensor, the control box 14 can receive the signal, and according to the received signal, send corresponding instructions to the stepper motor 41 and the drive motor 91, so that the stepper motor 41 rotates clockwise or counterclockwise or shuts down, and the drive motor 91 rotates clockwise or counterclockwise or shuts down. In this embodiment, when it is necessary to fill the marker, the control box 14 sends a clockwise rotation instruction to the stepper motor 41, so that the transmission shaft 43 rotates clockwise, and at this time, after controlling the drive motor 91 to rotate, the hatch 3 is closed. When the marker is placed and the marker needs to be placed, the control box 14 sends a counterclockwise rotation instruction to the stepper motor 41, and the transmission shaft 43 rotates counterclockwise, and at this time, sends a reverse rotation instruction to the drive motor 91, so that the hatch 3 is opened. When no nuclear radiation is detected, or after the delivery is completed, a shutdown command can be sent to the stepper motor 41 and the drive motor 91 through the control box 14 to cut off the power supply of the stepper motor 41 and the drive motor 91, so that the transmission shaft 43 stops rotating.

[0050] Of course, in order to further improve the safety inside the detection vehicle in this embodiment, a fresh air filter device is provided inside the detection vehicle, and the air inside the vehicle is filtered through the fresh air filter device.

[0051] In order to allow the hatch cover to have enough opening space, an opening that is adapted to the hatch cover shape and slightly larger than the hatch cover area is opened on the chassis or side deck of the inspection vehicle. Specifically, the bottom plate can be directly installed on the chassis of the inspection vehicle, or it can be installed on a support, and the marker is guided outside the vehicle through a guide tube.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the technical solution. Those skilled in the art should understand that those modifications or equivalent substitutions of the technical solution of the present invention that do not depart from the purpose and scope of the technical solution should be included in the scope of the claims of the present invention.

Claims

1. A marker automatic loading and delivery control method, comprising a detection vehicle and a marker intelligent delivery device and a control box installed on the detection vehicle, characterized in that: The marker intelligent delivery device is installed in the vehicle, and includes a protective box, a delivery seat driving mechanism, a marker delivery seat and a torque regulator; The delivery seat driving mechanism includes a transmission shaft, which is placed in a protective box and is arranged vertically, with the axis overlapping the center of the marker delivery seat. A suspension frame with a lower end fixedly connected to the marker delivery seat is sleeved and fixed on the transmission shaft, and the end of the transmission shaft is fixedly connected to the middle of the torque regulator; The marker placement seat is placed in the protective box and is in a circular ring shape. A plurality of arc-shaped marker placement grooves are arranged on the inner circumference of the marker placement seat, and each marker placement groove is connected to the through hole in the middle of the marker placement seat; a support seat is provided in the middle through hole of the marker placement seat, and the lower end of the support seat is fixedly connected to the bottom of the protective box, and two stop blocks are arranged on the support seat at intervals, and the two stop blocks are located on the same circumference, and the torque regulator is placed in the circumference formed by the two stop blocks; a slewing ring is sleeved on the torque regulator, and a stop block matching the stop block is fixed on the slewing ring, and a horizontally arranged positioning ring is connected to the outer side of the slewing ring, and a notch is provided on the positioning ring; The protective box is composed of a cover-shaped shell and a bottom plate fixed to the bottom of the cover-shaped shell. A loading port for loading the marker is provided on the cover-shaped shell, the bottom of the loading port is located above the marker delivery seat, and a sealing plate for closing the loading port is provided on the cover-shaped shell; a delivery port corresponding to the middle through hole of the marker delivery seat and adjacent to one of the marker placement slots is provided on the bottom plate, the delivery port extends out of the chassis or the side deck of the inspection vehicle through a guide tube, and a hatch corresponding to the delivery port is provided next to the delivery port, the hatch cover is connected to the bottom plate through a connecting rod driving mechanism, and under the action of the connecting rod driving mechanism, the delivery port can be opened or closed after the hatch cover is rotated; The control box is installed in the detection vehicle and is wirelessly connected to the delivery seat drive mechanism and the connecting rod drive mechanism; before reaching the nuclear radiation detection area or after the marker is delivered, the control box sends a rotation command to the delivery seat drive mechanism and a delivery port closing command to the connecting rod drive mechanism, so that the transmission shaft drives the marker delivery seat and the torque regulator to rotate, and the connecting rod drive mechanism drives the hatch to close the delivery port; at this time, under the friction between the torque regulator and the slewing ring, the slewing ring rotates synchronously, and the block in the slewing ring is between the stop blocks; when the block in the slewing ring rotates When it turns to one of the stop blocks and contacts the stop block, the friction torque between the torque regulator and the slewing ring is smaller than the stopping resistance torque between the stop block and the stop block, the slewing ring is stationary, the notch on the positioning ring is placed between two adjacent marker placement slots, and the torque regulator is idling; before preparing for loading, the loading personnel in the vehicle open the sealing plate, and after the marker placement seat rotates, the loading personnel continuously load the marker into the marker placement slot on the marker placement seat through the loading port, until the marker placement seat rotates one circle, the marker loading is completed, and the sealing plate is closed; When the inspection vehicle detects nuclear radiation, the control box sends a reverse command to the delivery seat drive mechanism and a hatch opening command to the connecting rod drive mechanism. The transmission shaft drives the marker delivery seat and the torque regulator to rotate in the opposite direction, and the connecting rod drive mechanism drives the hatch to rotate to open the delivery port. At this time, the slewing ring rotates synchronously with the torque regulator under the action of friction until the block in the slewing ring abuts against another stop block, then the slewing ring stops and the torque regulator idles. The notch in the positioning ring corresponds to a marker placement slot in the marker delivery seat and the delivery port on the bottom plate. During the continuous rotation of the marker delivery seat, the marker rods in each marker placement slot correspond to the notch, tilt toward the torque regulator, and fall from the delivery port to achieve delivery.

2. The marker automatic loading and delivery control method according to claim 1, characterized in that: The suspension frame is circular and located above the torque adjuster. It includes an upper flange and a lower flange that are spaced apart and sleeved on the transmission shaft. A plurality of horizontally arranged upper horizontal plates and lower horizontal plates are detachably installed on the upper flange and the lower flange respectively. The upper horizontal plates and the lower horizontal plates are arranged in a one-to-one correspondence and are located between two adjacent marker placement grooves of the marker placement seat. A vertical pole is detachably installed between every two corresponding upper horizontal plates and lower horizontal plates, and a connecting column is provided at the lower end of each lower horizontal plate, the lower end of which is detachably connected to the marker placement seat.

3. The marker automatic loading and delivery control method according to claim 2, characterized in that: The upper horizontal plate and the lower horizontal plate are both U-shaped, with a U-shaped groove formed in the middle; the U-shaped groove of the upper horizontal plate and the U-shaped groove of the lower horizontal plate are arranged relatively, and the upper and lower ends of the vertical pole are respectively clamped in the U-shaped groove of the upper horizontal plate and the U-shaped groove of the lower horizontal plate, and a vertically arranged threaded hole is provided at the upper and lower ends of the vertical pole. A bolt is passed through the upper horizontal plate and the lower horizontal plate between the vertical pole and the upper horizontal plate, and then the bolt is fixed after being threadedly matched with the threaded hole between the vertical pole and the upper horizontal plate.

4. The marker automatic loading and delivery control method according to claim 1, 2 or 3, characterized in that: The cover-shaped shell is circular and consists of an upper shell and a lower shell. The diameter of the upper shell is smaller than the diameter of the lower shell. The lower shell covers the marker placement seat, and the upper shell is in the shape of a bottle cap.

5. The marker automatic loading and delivery control method according to claim 4 is characterized in that: The loading port is located on the upper shell body and consists of a lower rectangular port, a middle arc port and an upper rectangular port. The upper rectangular port is used for the marker light to pass through, the middle arc port is used for the marker rod to pass through, and the lower rectangular port is used for the marker base to pass through.

6. The marker automatic loading and delivery control method according to claim 5, characterized in that: The sealing plate is rotatably mounted on the upper shell body, and a sealing strip matched with the filling port is arranged on the inner side of the sealing plate, and the shape and size of the sealing strip are adapted to the filling port.

7. The marker automatic loading and delivery control method according to claim 6, characterized in that: There is a lower recess on the top surface of the upper shell body, and the placement seat driving mechanism also includes a stepper motor and a reducer. The stepper motor is connected to the reducer and is fixed to the lower recess of the upper shell body through a fixed plate; the output shaft of the reducer passes through the lower recess and is connected to the transmission shaft through a coupling.

8. The marker automatic loading and delivery control method according to claim 1, 2, 3, 5, 6 or 7, characterized in that: The connecting rod driving mechanism includes a driving motor fixed on one side of the rotating end of the hatch cover, and a connecting rod assembly having one end connected to the output end of the driving motor and the other end connected to the inner side of the hatch cover; the connecting rod assembly includes a first connecting rod and a second connecting rod, one end of the first connecting rod is sleeved and fixed on the output shaft of the driving motor, and the other end has an annular groove, one end of the second connecting rod is sleeved in the annular groove and is rotatably connected to the first connecting rod, and the other end is rotatably connected to the inner side of the hatch cover.

9. The marker automatic loading and delivery control method according to claim 8, characterized in that: A first distance sensor is provided on the opposite side of the drive motor and next to the delivery port. When the distance between the hatch cover and the first distance sensor is within the set distance, the first distance sensor is triggered and sends a signal to the control box. The control box then controls the start and stop of the drive motor and the rotation direction of the output shaft of the drive motor to realize automatic opening and closing of the hatch cover.

10. The marker automatic loading and delivery control method according to claim 9, characterized in that: A distance sensor is provided on each stop block. When the stop block abuts against one of the stop blocks, the distance sensor on the stop block is triggered and sends a signal to the control box, which controls the start and stop and rotation direction of the power part in the delivery seat drive mechanism.

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