Reconfigurable multi-functional detection and disinfection robot

Abstract

This invention belongs to the field of mechanical automation engineering, specifically a reconfigurable multifunctional detection and decontamination robot. It includes a multifunctional integrated detection and decontamination unit, a base step unit, and a multifunctional folding bed unit. The integrated multifunctional detection and decontamination unit can be quickly reconfigured and installed with either the base step unit or the multifunctional folding bed unit, enabling both vertical and horizontal multifunctional detection and decontamination robots. This is suitable for personnel in contaminated nuclear environments in both standing and horizontal positions. This invention allows for rapid response based on actual on-site conditions, easily and quickly completing the reconfiguration and installation of two different modes of detection and decontamination robots. It features modularity, simplicity, efficiency, ease of operation, and wide applicability.

Description

Technical Field

[0001] This invention belongs to the field of mechanical automation engineering, specifically a reconfigurable multifunctional detection and disinfection robot. Background Technology

[0002] Decontamination robots should be characterized by simple structure, convenient operation, high efficiency, and low side effects. While current decontamination equipment has not yet reached this goal, it is developing towards multi-functionality. Modern warfare places increasingly higher demands on logistical support, and single-function decontamination equipment can no longer meet the needs of future combat. Therefore, whether it is large-scale decontamination equipment or small-scale decontamination devices, multi-functionality is becoming increasingly prominent. Addressing the diverse needs of nuclear-contaminated personnel in battlefield environments requires decontamination equipment to meet factors such as operability and safety, as well as the integration and modularity of the decontamination system. Therefore, the development of reconfigurable multi-functional detection and decontamination robots is essential. Summary of the Invention

[0003] To meet the diverse needs of nuclear-contaminated personnel in battlefield environments, and based on relevant casualty triage methods, this invention aims to provide a reconfigurable, multi-functional detection and decontamination robot. This robot, designed to meet the survival needs of combat personnel under nuclear, biological, and chemical (NBC) conditions, can be reconfigured into both vertical and horizontal decontamination robots through combinations of different modules and structures, enabling rapid decontamination in various postures.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] This invention discloses a reconfigurable multifunctional detection and decontamination robot, comprising a multifunctional integrated detection and decontamination unit and a base step unit. The multifunctional integrated detection and decontamination unit includes a movable crossbar, a partial detection and decontamination unit, a full decontamination unit, and a movable platform. The movable crossbar is connected to the base step unit and is equipped with a movable component. One side of the movable platform is connected to the output end of the movable component, and the other side of the movable platform is connected to both the partial detection and decontamination unit and the full decontamination unit. The movable platform, the partial detection and decontamination unit, and the full decontamination unit are driven along the length of the movable crossbar by the movable component. The system allows for movement in a 360-degree direction; the base step unit is equipped with a rotating step for contaminated personnel to stand on; the moving platform has a rotational degree of freedom, or both the moving platform and the rotating step have rotational degrees of freedom; the local detection and decontamination unit and the comprehensive decontamination unit rotate with the moving platform, and / or the contaminated personnel rotate with the rotating step; the local detection and decontamination unit is a multi-joint robotic arm, with one end connected to the moving platform and the other end being an execution unit that integrates detection and decontamination; the comprehensive decontamination unit is a deformable spray pipe arm that sprays washing liquid onto the contaminated personnel.

[0006] The base step unit includes a fixed support, a rotating step, a drain trough, a drain pipe, and a fixed base plate. The fixed base plate is equipped with the fixed support and the drain trough. The movable crossbar is connected to the fixed support. The drain trough is equipped with a rotatable rotating step. The drain trough wall is equipped with a drain pipe for discharging the polluted solution in the drain trough.

[0007] Another reconfigurable multifunctional detection and decontamination robot of the present invention includes a multifunctional integrated detection and decontamination unit and a multifunctional folding bed unit. The multifunctional integrated detection and decontamination unit includes a moving crossbar, a localized detection and decontamination unit, a comprehensive decontamination unit, and a moving platform. The moving crossbar is connected to the multifunctional folding bed unit and has a moving component. One side of the moving platform is connected to the output end of the moving component, and the other side of the moving platform is connected to both the localized detection and decontamination unit and the comprehensive decontamination unit. The moving platform, the localized detection and decontamination unit, and the comprehensive decontamination unit move along the length of the moving crossbar via the moving component. The moving platform has rotational freedom, and the localized detection and decontamination unit and the comprehensive decontamination unit rotate with the moving platform. The contaminated person lies on the multifunctional folding bed unit. The localized detection and decontamination unit is a multi-jointed robotic arm, with one end connected to the moving platform and the other end serving as an execution unit for integrated detection and decontamination. The comprehensive decontamination unit is a deformable spray pipe arm that sprays detergent onto the contaminated person.

[0008] The multifunctional folding bed unit includes a connecting block, a telescopic bracket, and a folding bed. One side of the folding bed is connected to a movable crossbar via the connecting block, and an adjustable telescopic bracket is installed on the underside of the head of the folding bed.

[0009] The movable crossbar includes a sliding groove and a movable assembly. The movable assembly includes a nut and a lead screw. The lead screw is rotatably installed in the sliding groove. The nut, which serves as the output end of the movable assembly, is threadedly connected to the lead screw. The movable platform is connected to the nut. The lead screw is driven to rotate by a power source. Through the helical pair formed with the nut, the nut drives the movable platform to move along the length direction of the sliding groove.

[0010] The bottom and top of the sliding groove are respectively embedded with angular contact ball bearings, and the two ends of the lead screw are rotatably connected to the bottom and top of the sliding groove through angular contact bearings; bearing end caps are respectively installed on the inner side of the bottom and top of the sliding groove, the inner ring of the angular contact bearing is axially limited by the stop on the sliding groove and the shoulder on the lead screw, and the outer ring of the angular contact bearing is axially limited by the bearing end cap and the stop on the sliding groove.

[0011] The mobile stage has a power unit and a rotating unit. The power unit of the mobile stage is connected to the output end of the moving component. The rotating unit of the mobile stage is driven to rotate by the power unit. The entire mobile stage moves along the length of the moving crossbar by the moving component. The local detection and decontamination unit and the comprehensive decontamination unit are respectively connected to the rotating unit of the mobile stage and have the degree of freedom to rotate with the rotating unit and the degree of freedom to move with the mobile stage.

[0012] The power unit of the mobile station is a rotary motor, and the rotary part is a rotary connecting seat. The rotary motor is installed in the inner cavity of the rotary connecting seat, and the output end of the rotary motor is connected to the output end of the mobile component; or, the rotary motor is fixedly connected to the output end of the mobile component, and the output end of the rotary motor is connected to the rotary connecting seat; the partial detection and decontamination unit and the full decontamination unit are respectively connected to the rotary connecting seat.

[0013] The local detection and decontamination unit includes a rotary table and multiple articulated arms connected in sequence. The fixed end of any articulated arm other than the first and last articulated arms is connected to the output end of the previous articulated arm, and the output end of any articulated arm other than the first and last articulated arms is connected to the fixed end of the next articulated arm. The fixed end of the first articulated arm is mounted on a movable table. The rotary table, which serves as the execution unit for integrated detection and decontamination, is fixedly connected to the output end of the last articulated arm. The first and last articulated arms output rotational degrees of freedom, while the other articulated arms output extension or rotational degrees of freedom.

[0014] The rotating platform includes a rotating base, a rinsing module, a spraying module, a brushing module, and a detection module. One side of the rotating base is connected to the output end of the end articulated arm, and the other side of the rotating base is respectively provided with the rinsing module, spraying module, brushing module, and detection module. The rinsing module, spraying module, brushing module, and detection module rotate around the axis of the rotating base under the drive of the end articulated arm.

[0015] The other side of the rotating seat is forked in a cross shape. The four forks of the cross shape are respectively connected to the rinsing module, the spraying module, the brushing module and the detection module. The forks corresponding to the rinsing module and the spraying module are hollow structures. The forks corresponding to the rinsing module and / or the spraying module are connected to the source of the washing liquid.

[0016] The comprehensive cleaning and disinfection unit includes a connector and multiple spray seats with spray heads. The spray seats are connected in sequence. Adjacent spray seats and the connector and spray seats are connected by corrugated pipes. Adjacent spray seats and the spray seats and connector are connected by corrugated pipes to achieve deformation. The spray seats have a hollow structure, and at least one spray seat is connected to the source of the washing liquid.

[0017] The advantages and positive effects of this invention are as follows:

[0018] 1. This invention proposes a reconfigurable, multifunctional detection and decontamination robot with a wide range of applications and simple operation, which can quickly and efficiently complete the detection and decontamination tasks of personnel contaminated by nuclear radiation in battlefield environments.

[0019] 2. This invention adopts a modular structure. By combining different modules and structures, it can be used to decontaminate wounded soldiers of different classification levels in both upright and supine positions.

[0020] 3. This invention integrates multiple functions for detecting, washing, and eliminating radioactive contaminants, enabling comprehensive operation in both localized detection and decontamination and overall decontamination modes. Attached Figure Description

[0021] Figure 1 This is one of the three-dimensional structural schematic diagrams of Embodiment 1 of the present invention;

[0022] Figure 2 This is a second three-dimensional structural schematic diagram of Embodiment 1 of the present invention;

[0023] Figure 3 This is a three-dimensional structural diagram of the base step unit in Embodiment 1 of the present invention;

[0024] Figure 4 This is one of the three-dimensional structural schematic diagrams of Embodiment 2 of the present invention;

[0025] Figure 5 This is the second three-dimensional structural schematic diagram of Embodiment 2 of the present invention;

[0026] Figure 6 This is a three-dimensional structural diagram of the multifunctional folding bed unit in Embodiment 2 of the present invention;

[0027] Figure 7 This is a three-dimensional structural diagram of the multifunctional detection and disinfection integrated unit of the present invention;

[0028] Figure 8 for Figure 7 A three-dimensional structural diagram of the moving crossbar;

[0029] Figure 9 for Figure 7 Cross-sectional view of the moving crossbar;

[0030] Figure 10 for Figure 7 Cross-sectional view of the internal structure of the moving crossbar;

[0031] Figure 11 for Figure 7 A three-dimensional structural diagram of the central rotary table assembly;

[0032] Figure 12 for Figure 7 A three-dimensional structural diagram of the local detection and decontamination unit;

[0033] Figure 13 for Figure 12 A three-dimensional structural diagram of the central rotary table;

[0034] Figure 14 for Figure 7 A three-dimensional structural diagram of the comprehensive decontamination unit;

[0035] The components are as follows: 1 is a multi-functional integrated detection and decontamination unit; 2 is a base step unit; 3 is a multi-functional folding bed unit; 4 is a moving crossbar; 5 is a partial detection and decontamination unit; 6 is a full decontamination unit; 7 is a moving platform; 8 is a fixed support; 9 is a rotating step; 10 is a drain trough; 11 is a drain pipe; 12 is a fixed base plate; 13 is a connecting block; 14 is a telescopic bracket; 15 is a folding bed; 16 is a sliding groove; 17 is a nut; 18 is a lead screw; 19 is a guide rail; 20 is a slider; 21 is an angular contact bearing; and 22 is a bearing. End cap, 23 is rotary motor, 24 is rotary connecting seat, 25 is first joint arm, 26 is second joint arm, 27 is third joint arm, 28 is fourth joint arm, 29 is fifth joint arm, 30 is sixth joint arm, 31 is rotary table, 32 is rotary seat, 33 is rinsing module, 34 is spray module, 35 is brush removal module, 36 is detection module, 37 is connector, 38 is spray seat A, 39 is bellows A, 40 is spray seat B, 41 is bellows B, 42 is spray seat C, 43 is spray head. Detailed Implementation

[0036] The invention will now be described in further detail with reference to the accompanying drawings.

[0037] Example 1 (Vertical Multifunctional Detection and Disinfection Robot)

[0038] like Figures 1-3 , Figures 7-14As shown, the multi-functional detection and decontamination robot in this embodiment is a vertical multi-functional detection and decontamination robot, including a multi-functional detection and decontamination integrated unit 1 and a base step unit 2. The multi-functional detection and decontamination integrated unit 1 includes a movable crossbar 4, a partial detection and decontamination unit 5, a full decontamination unit 6, and a movable platform 7. The movable crossbar 4 is connected to the base step unit 2, and a movable component is provided on the movable crossbar 4. One side of the movable platform 7 is connected to the output end of the movable component, and the other side of the movable platform 7 is connected to the partial detection and decontamination unit 5 and the full decontamination unit 6 respectively. The movable platform 7, the partial detection and decontamination unit 5, and the full decontamination unit 6... The movement is achieved by the moving components along the length of the moving crossbar 4; the base step unit 2 is provided with a rotating step 9 for the contaminated personnel to stand on, the moving platform 7 and / or the rotating step 9 have rotational freedom, the partial detection and decontamination unit 5 and the full decontamination unit 6 rotate with the moving platform 7, and / or the contaminated personnel rotate with the rotating step 9; the partial detection and decontamination unit 5 is a multi-joint robotic arm, one end of the partial detection and decontamination unit 5 is connected to the moving platform 7, and the other end is an execution part that can realize integrated detection and decontamination; the full decontamination unit 6 is a deformable spray pipe arm, which sprays washing liquid onto the contaminated personnel.

[0039] The base step unit 2 of this embodiment includes a fixed support 8, a rotating step 9, a drain trough 10, a drain pipe 11, and a fixed base plate 12. The fixed support 8 and the drain trough 10 are respectively installed on the fixed base plate 12. The movable crossbar 4 is quickly connected and fixed to the fixed support 8. The drain trough 10 has a rotatable rotating step 9 inside. The drain pipe 11 for discharging the contaminated solution in the drain trough 10 is installed on the wall of the drain trough 10. The drain trough 10 of this embodiment is annular to prevent secondary pollution caused by splashing of wastewater after washing and disinfection. The drain trough 10 has a drain hole on its side wall, which is connected to the drain pipe 10. The contaminated solution after washing and disinfection can be discharged to a designated area through the drain hole and the drain pipe 10. The rotating step 9 is disc-shaped and concentrically arranged with the sewage trough 10. The rotating step 9 can be rotatably installed on the fixed base plate 12. When a person in contamination stands on the rotating step 9, they can rotate on their own. Alternatively, the rotating step 9 is a hollow structure with a drive motor fixed to the fixed base plate 12 inside. The rotating step 9 is connected to the output shaft of the drive motor, and the drive motor drives the rotating step 9 to rotate.

[0040] In addition to having the degree of freedom to move via the moving component, the moving stage 7 also outputs a rotational degree of freedom, or both the moving stage 7 and the rotating step 9 output rotational degrees of freedom. In this embodiment, the moving stage 7 and the rotating step 9 simultaneously output rotational degrees of freedom. The moving stage 7 in this embodiment has a power unit and a rotating unit. The power unit of the moving stage 7 is connected to the output end of the moving component, and the rotating unit of the moving stage 7 is driven to rotate by the power unit. The entire moving stage 7 moves along the length direction of the moving crossbar 4 via the moving component. The partial detection and decontamination unit 5 and the comprehensive decontamination unit 6 are respectively connected to the rotating unit of the moving stage 7, and have the degree of freedom to rotate with the rotating unit and the degree of freedom to move with the moving stage 7.

[0041] In this embodiment, the movable crossbar 4 includes a sliding groove 16, a movable assembly, a guide rail 19, a slider 20, an angular contact bearing 21, and a bearing end cap 22. The movable assembly includes a nut 17 and a lead screw 18. The lead screw 18 is rotatably installed in the sliding groove 16. The nut 17, which serves as the output end of the movable assembly, is threadedly connected to the lead screw 18, converting the rotational motion of the lead screw 18 into linear motion. The power unit of the movable table 7 is connected to the nut 17. The lead screw 18 rotates under the drive of the power source, and through the helical pair formed with the nut 17, the nut 17 drives the movable table 7 to move along the length direction of the sliding groove 16. In this embodiment, angular contact ball bearings 21 are respectively embedded in the inner holes of the bottom and top of the sliding groove 16. Bearing end caps 22 are fixedly connected to the inner sides of the bottom and top of the sliding groove 16, and the bearing end caps 22 abut against the outer ring of the angular contact bearings 21. The two ends of the lead screw 18 pass through the angular contact bearings 21 at the bottom and top of the sliding groove 16, respectively, and are rotatably connected to the bottom and top of the sliding groove 16 through the angular contact bearings 21. The inner ring of the angular contact bearing 21 is axially limited by the stop on the sliding groove 16 and the shoulder on the lead screw 18, and the outer ring of the angular contact bearing 21 is axially limited by the bearing end caps 22 and the stop on the sliding groove 16. A slider 20 is installed on one or both sides of the nut 17 (in this embodiment, sliders 20 are installed on each side of the nut 17). A guide rail 19 is installed in the sliding groove 16 on one or both sides of the lead screw 18 (in this embodiment, guide rails 19 are symmetrically installed on both sides of the lead screw 18). The slider 20 and the guide rail 19 are slidably connected and can move linearly along the length of the guide rail 19 to guide the movement of the nut 17.

[0042] The power source in this embodiment can be a drive motor, which can be installed on the sliding groove 16 and directly connected to the lead screw 18, or connected to the lead screw 18 through a transmission device.

[0043] In this embodiment, the height of the movable crossbar 4 is 2200mm, which enables decontamination operations to be carried out on contaminated personnel whose height does not exceed 1.9m.

[0044] In this embodiment, the power unit of the moving platform 7 is a rotary motor 23, and the rotating part is a rotary connecting seat 24. The rotary motor 23 is installed in the inner cavity of the rotary connecting seat 24, and the output end of the rotary motor 23 is connected to the output end of the nut 17; or, the output end of the rotary motor 23 is fixedly connected to the output end of the nut 17, and the output end of the rotary motor 23 is connected to the rotary connecting seat 24. In this embodiment, the rotary motor 23 is installed in the inner cavity of the rotary connecting seat 24, and the output end of the rotary motor 23 is connected to the nut 17, which enables the rotary connecting seat 24 to rotate 360° around the rotation center. The partial detection and decontamination unit 5 and the full decontamination unit 6 are respectively connected to both ends of the rotary connecting seat 24.

[0045] The local detection and decontamination unit 5 includes a rotary table 31 and multiple articulated arms connected in sequence. The fixed end of any articulated arm, except for the first and last articulated arms, is connected to the output end of the previous articulated arm. The output end of any articulated arm, except for the first and last articulated arms, is connected to the fixed end of the next articulated arm. The fixed end of the first articulated arm is mounted on the rotating part of the moving table 7. The rotary table 31, serving as the execution unit for integrated detection and decontamination, is fixedly connected to the output end of the last articulated arm. The first and last articulated arms output rotational degrees of freedom, while the other articulated arms output extension or rotational degrees of freedom.

[0046] In this embodiment, the local detection and decontamination unit 5 is a six-degree-of-freedom robotic arm, consisting of a first joint arm 25, a second joint arm 26, a third joint arm 27, a fourth joint arm 28, a fifth joint arm 29, and a sixth joint arm 30. The fixed end of the first joint arm 25 is connected to one end of the rotary connecting seat 24, and the output end of the first joint arm 25 is connected to the fixed end of the second joint arm 26. The fixed end of the third joint arm 27 is connected to the output end of the second joint arm 26, and the output end of the third joint arm 27 is connected to the fixed end of the fourth joint arm 28. The fixed end of the fifth joint arm 29 is connected to the output end of the fourth joint arm 28, and the output end of the fifth joint arm 29 is connected to the fixed end of the sixth joint arm 30. The output end of the sixth joint arm 30 is connected to the rotary table 31. Each joint arm in this embodiment outputs a rotational degree of freedom.

[0047] The rotating table 31 in this embodiment includes a rotating base 32, a rinsing module 33, a spraying module 34, a brushing module 35, and a detection module 36. One side of the rotating base 32 is connected to the output end of the end articulated arm (i.e., the sixth articulated arm 30), and the other side of the rotating base 32 is forked in a cross shape. The four forks of the cross shape are connected to the rinsing module 33, the spraying module 34, the brushing module 35, and the detection module 36 in a counterclockwise direction, respectively. Each module can rotate 360° around the axis of the rotating base 32 under the drive of the sixth articulated arm 30. The forks corresponding to the rinsing module 33 and the spraying module 34 are hollow structures, and the forks corresponding to the rinsing module 33 and / or the spraying module 34 are connected to the source of the washing liquid.

[0048] The brushing module 35 in this embodiment is existing technology and can be a brush with a flexible end. The rinsing module 33, spraying module 34, and detection module 36 in this embodiment are all commercially available products. The rinsing module 33 is a flat nozzle manufactured by Shenzhen Borun Spray Technology Co., Ltd., the spraying module 34 is a stainless steel universal nozzle manufactured by Shenzhen Borun Spray Technology Co., Ltd., and the detection module 36 is a product of Nanjing Nanhe Instrument Co., Ltd.

[0049] In this embodiment, the detection module 36, the rotary motor 23, and the power source are connected to the controller, which is existing technology and will not be described in detail here. The signals collected by the detection module 36 are transmitted to the controller, which then controls the power source and the rotary motor 23, ultimately moving the moving stage 7, the partial detection and decontamination unit 5, and the full decontamination unit 6 to the required positions.

[0050] The comprehensive cleaning and disinfection unit 6 includes a connector 37 and multiple spray seats with spray heads 43. The spray seats are connected in sequence. Adjacent spray seats and the connector 37 and the spray seats are connected by corrugated pipes. The corrugated pipes allow for deformation between adjacent spray seats and between the spray seats and the connector 37. The spray seats have a hollow structure, and at least one spray seat is connected to the source of the washing liquid.

[0051] In this embodiment, the comprehensive decontamination unit 6 is a spray pipe arm with adjustable angle, including a connector 37, a spray seat A38, a bellows A39, a spray seat B40, a bellows B41, a spray seat C42, and a spray head 43. One end of the connector 37 is connected to the other end of the rotary connector 24, and the other end of the connector 37 is connected to the spray seat A38; one end of the bellows A39 is connected to the spray seat A38, and the other end of the bellows A39 is connected to one end of the spray seat B40; the bellows B41... One end of the bellows B41 is connected to the other end of the spray seat B40, and the other end of the bellows B41 is connected to the spray seat C42. Spray heads 43 are evenly distributed on the spray seats A38, B40 and C42 respectively. The working range of the comprehensive decontamination unit 6 is adjusted by adjusting the curvature of the bellows A39 and B41. The comprehensive decontamination unit 6 in this embodiment can achieve a decontamination width of up to 1.2m. The bellows A39 and B41 can be metal bellows and can achieve a maximum bending of ±90°.

[0052] The working principle of this embodiment is as follows:

[0053] This embodiment describes a reconfigurable multi-functional detection and decontamination robot. The robot adopts a modular and reconfigurable design, with each module consisting of a multi-functional detection and decontamination integrated unit 1 and a base step unit 2. The multi-functional detection and decontamination integrated unit 1 can be quickly connected and fixed to the base step unit 2, allowing it to be reconfigured into a vertical multi-functional detection and decontamination robot.

[0054] In this embodiment, when the vertical multi-functional detection and decontamination robot performs decontamination tasks, the contaminated person stands on the rotating step 9 of the bottom step unit 2. The moving crossbar 4 is positioned at the same height as the contaminated person, and the local detection and decontamination unit 5 and the full decontamination unit 6 are positioned directly in front of and behind the contaminated person, respectively. When no decontamination is being performed, the moving platform 7 and the connected local detection and decontamination unit 5 and full decontamination unit 6 are positioned above the contaminated person. The curvature of the bellows A39 and B41 of the full decontamination unit 6 is adjusted to envelop the contaminated person. The joints of the local detection and decontamination unit 5 are controlled so that the rotating platform 31 at the end of the sixth robotic arm 30 faces the contaminated area of ​​the contaminated person. During decontamination, the lead screw 18 of the moving crossbar 4 rotates, driving the nut 17 to move in a uniform linear motion. The movement proceeds from the head to the feet of the contaminated person for comprehensive decontamination. Each spray head 43 on the comprehensive decontamination unit 6 sprays detergent, while the local detection decontamination unit 5 performs detection work on the contaminated area. After the moving component drives the comprehensive decontamination unit 6 to the feet, it returns to the contaminated area detected by the local detection decontamination unit 5. The rotating seat 32 on the rotating table 31 rotates under the drive of each joint arm. According to the actual contamination situation, the corresponding decontamination module is used for radionuclide decontamination, that is, the corresponding rinsing module 33, spraying module 34, or brushing module 35 is selected according to the needs of the contaminants on the contaminated person. After local decontamination is completed, the screw 18 rotates, driving the moving platform 7 and the connected local detection decontamination unit 5 and full decontamination unit 6 back to their initial top position. At this time, the rotary motor 23 of the moving platform 7 rotates, driving the local detection decontamination unit 5 and full decontamination unit 6 to complete a 180° rotation. At this point, the local detection decontamination unit 5 and full decontamination unit 6 are positioned at the back and front of the contaminated person, respectively. Adjust the angles of the joints of the local detection decontamination unit 5 so that the rotating platform 31 at the end faces the contaminated area of ​​the person. The screw 18 rotates, driving the decontamination module from head to toe for secondary decontamination. After the full decontamination unit 6 reaches the toe, it returns to the contaminated area detected by the local detection decontamination unit 5 or the localized area that is difficult to rinse with full decontamination. The rotating seat 32 on the rotating platform 31 rotates, and the corresponding decontamination module is used for radionuclide decontamination according to the actual contamination situation. After local decontamination is completed, the mobile station 7, the local detection and decontamination unit 5, and the comprehensive decontamination unit 6 return to the initial position at the top of the mobile crossbar 4, completing a single decontamination task.

[0055] Alternatively, instead of using the movable platform 7 to output the rotational degree of freedom, the rotating step 9 can rotate 180° to turn the contaminated personnel in the opposite direction and repeat the decontamination steps. The decontamination steps need to be performed 2 to 3 times.

[0056] Example 2 (Horizontal Multifunctional Detection and Disinfection Robot)

[0057] like Figures 4-14As shown, the multi-functional detection and decontamination robot in this embodiment is a horizontal multi-functional detection and decontamination robot, including a multi-functional detection and decontamination integrated unit 1 and a multi-functional folding bed unit 3. The multi-functional detection and decontamination integrated unit 1 includes a moving crossbar 4, a partial detection and decontamination unit 5, a full decontamination unit 6, and a moving platform 7. The moving crossbar 4 is connected to the multi-functional folding bed unit 3, and a moving component is provided on the moving crossbar 4. One side of the moving platform 7 is connected to the output end of the moving component, and the other side of the moving platform 7 is connected to the partial detection and decontamination unit 5 and the full decontamination unit 6 respectively. The partial detection and decontamination unit 5 and the full decontamination unit 6 are moved along the length of the moving crossbar 4 by a moving component; the moving platform 7 has a degree of rotational freedom, and the partial detection and decontamination unit 5 and the full decontamination unit 6 rotate with the moving platform 7, and the contaminated personnel lie on the multi-functional folding bed unit 3; the partial detection and decontamination unit 5 is a multi-joint robotic arm, one end of which is connected to the moving platform 7, and the other end is an execution unit that can realize integrated detection and decontamination; the full decontamination unit 6 is a deformable spray pipe arm, which sprays washing liquid onto the contaminated personnel.

[0058] The multifunctional folding bed unit 3 of this embodiment includes a connecting block 13, a telescopic bracket 14, and a folding bed 15. The connecting block 13 is installed at both ends of one side of the folding bed 15 for connecting with the moving crossbar 4. The telescopic bracket 14 is installed on the underside of the head of the folding bed 15, and the length of the telescopic bracket 14 can be adjusted according to actual needs, with a maximum length adjustment of 300mm.

[0059] The structure of the multifunctional detection and disinfection integrated unit 1 in this embodiment is the same as that in Embodiment 1. When the moving platform 7 is driven by the moving component to move in a straight line along the length of the moving crossbar 4 and return to above the head of the contaminated person, the moving crossbar 4 and the connecting block 13 need to be disassembled. After the moving platform 7 moves to above the head of the contaminated person, it drives the local detection and disinfection unit 5 and the full disinfection unit 6 to rotate. After rotating, it moves to below the head of the contaminated person and then connects the connecting block and the moving crossbar 4.

[0060] When the horizontal multi-functional detection and decontamination robot performs decontamination tasks, the contaminated person lies on the folding bed 15 of the multi-functional folding bed unit 3. The angle of the bed is adjusted by adjusting the telescopic bracket 14, preferably 15-20°. The multi-functional detection and decontamination integrated unit 1 performs comprehensive decontamination from the head to the feet of the person to be decontaminated. After completion, the local detection and decontamination unit 5 decontaminates the contaminated area of ​​the person or local areas that are difficult to rinse with comprehensive decontamination. After a single decontamination, the moving platform 7, the local detection and decontamination unit 5, and the comprehensive decontamination unit 6 return to the initial position at the head of the folding bed 15 and rotate 180°, flipping the positions of the local detection and decontamination unit 5 and the comprehensive decontamination unit 6. Then the decontamination steps are repeated 2-3 times. The way the moving platform 7, the local detection and decontamination unit 5, and the comprehensive decontamination unit 6 move along the length of the moving crossbar 4, and the way the local detection and decontamination unit 5 and the comprehensive decontamination unit 6 are driven to rotate by the moving platform 7 are the same as in Embodiment 1, and will not be described again here.

Claims

1. A reconfigurable multifunctional detection and decontamination robot, characterized in that: The system includes a multi-functional detection and decontamination integrated unit (1) and a base step unit (2). The multi-functional detection and decontamination integrated unit (1) includes a movable crossbar (4), a local detection and decontamination unit (5), a full decontamination unit (6), and a movable platform (7). The movable crossbar (4) is connected to the base step unit (2). A movable component is provided on the movable crossbar (4). One side of the movable platform (7) is connected to the output end of the movable component. The other side of the movable platform (7) is connected to the local detection and decontamination unit (5) and the full decontamination unit (6) respectively. The movable platform (7), the local detection and decontamination unit (5), and the full decontamination unit (6) are driven along the length direction of the movable crossbar (4) by the movable component. The system enables movement; the base step unit (2) is provided with a rotating step (9) for the contaminated personnel to stand on; the moving platform (7) has a degree of rotational freedom or both the moving platform (7) and the rotating step (9) have a degree of rotational freedom; the local detection and decontamination unit (5) and the comprehensive decontamination unit (6) rotate with the moving platform (7) and / or the contaminated personnel rotate with the rotating step (9); the local detection and decontamination unit (5) is a multi-joint robotic arm; one end of the local detection and decontamination unit (5) is connected to the moving platform (7), and the other end is an execution unit that can realize integrated detection and decontamination; the comprehensive decontamination unit (6) is a deformable spray pipe arm, through which washing liquid is sprayed onto the contaminated personnel; The local detection and decontamination unit (5) includes a rotary table (31) and multiple articulated arms connected in sequence. The fixed end of any articulated arm other than the first articulated arm and the last articulated arm is connected to the output end of the previous articulated arm, and the output end of any articulated arm other than the first articulated arm and the last articulated arm is connected to the fixed end of the next articulated arm. The fixed end of the first articulated arm is mounted on the movable table (7). The rotary table (31), which serves as the execution unit for integrated detection and decontamination, is fixedly connected to the output end of the last articulated arm. The first articulated arm and the last articulated arm both output rotational degrees of freedom, while the other articulated arms output extension or rotational degrees of freedom. The rotating platform (31) includes a rotating base (32), a rinsing module (33), a spraying module (34), a brushing module (35), and a detection module (36). One side of the rotating base (32) is connected to the output end of the end articulated arm. The other side of the rotating base (32) is respectively provided with the rinsing module (33), the spraying module (34), the brushing module (35), and the detection module (36). The rinsing module (33), the spraying module (34), the brushing module (35), and the detection module (36) rotate around the axis of the rotating base (32) under the drive of the end articulated arm. The other side of the rotating seat (32) is forked in a cross shape. The four forks of the cross shape are respectively connected to the rinsing module (33), the spraying module (34), the brushing module (35) and the detection module (36). The forks corresponding to the rinsing module (33) and the spraying module (34) are hollow structures. The forks corresponding to the rinsing module (33) and / or the forks corresponding to the spraying module (34) are connected to the source of the washing liquid.

2. The reconfigurable multifunctional detection and decontamination robot according to claim 1, characterized in that: The base step unit (2) includes a fixed support (8), a rotating step (9), a drain trough (10), a drain pipe (11), and a fixed base plate (12). The fixed base plate (12) is equipped with the fixed support (8) and the drain trough (10). The movable crossbar (4) is connected to the fixed support (8). The drain trough (10) is equipped with a rotatable rotating step (9). The drain trough (10) is equipped with a drain pipe (11) for discharging the polluted solution in the drain trough (10) on the wall of the drain trough (10).

3. A reconfigurable multifunctional detection and decontamination robot, characterized in that: The system includes a multi-functional detection and disinfection integrated unit (1) and a multi-functional folding bed unit (3). The multi-functional detection and disinfection integrated unit (1) includes a moving crossbar (4), a partial detection and disinfection unit (5), a full disinfection unit (6), and a moving platform (7). The moving crossbar (4) is connected to the multi-functional folding bed unit (3). A moving component is provided on the moving crossbar (4). One side of the moving platform (7) is connected to the output end of the moving component. The other side of the moving platform (7) is connected to the partial detection and disinfection unit (5) and the full disinfection unit (6), respectively. The moving platform (7), the partial detection and disinfection unit (5), and the full disinfection unit (6) are connected to the multi-functional folding bed unit (3). The decontamination unit (6) moves along the length of the moving crossbar (4) via a moving component; the moving platform (7) has a degree of rotational freedom, and the local detection decontamination unit (5) and the comprehensive decontamination unit (6) rotate with the moving platform (7), and the contaminated person lies on the multi-functional folding bed unit (3); the local detection decontamination unit (5) is a multi-joint robotic arm, one end of which is connected to the moving platform (7), and the other end is an execution unit that can realize integrated detection and decontamination; the comprehensive decontamination unit (6) is a deformable spray pipe arm, through which washing liquid is sprayed onto the contaminated person; The local detection and decontamination unit (5) includes a rotary table (31) and multiple articulated arms connected in sequence. The fixed end of any articulated arm other than the first articulated arm and the last articulated arm is connected to the output end of the previous articulated arm, and the output end of any articulated arm other than the first articulated arm and the last articulated arm is connected to the fixed end of the next articulated arm. The fixed end of the first articulated arm is mounted on the movable table (7). The rotary table (31), which serves as the execution unit for integrated detection and decontamination, is fixedly connected to the output end of the last articulated arm. The first articulated arm and the last articulated arm both output rotational degrees of freedom, while the other articulated arms output extension or rotational degrees of freedom. The rotating platform (31) includes a rotating base (32), a rinsing module (33), a spraying module (34), a brushing module (35), and a detection module (36). One side of the rotating base (32) is connected to the output end of the end articulated arm. The other side of the rotating base (32) is respectively provided with the rinsing module (33), the spraying module (34), the brushing module (35), and the detection module (36). The rinsing module (33), the spraying module (34), the brushing module (35), and the detection module (36) rotate around the axis of the rotating base (32) under the drive of the end articulated arm. The other side of the rotating seat (32) is forked in a cross shape. The four forks of the cross shape are respectively connected to the rinsing module (33), the spraying module (34), the brushing module (35) and the detection module (36). The forks corresponding to the rinsing module (33) and the spraying module (34) are hollow structures. The forks corresponding to the rinsing module (33) and / or the forks corresponding to the spraying module (34) are connected to the source of the washing liquid.

4. The reconfigurable multifunctional detection and decontamination robot according to claim 3, characterized in that: The multifunctional folding bed unit (3) includes a connecting block (13), a telescopic bracket (14) and a folding bed (15). One side of the folding bed (15) is connected to the moving crossbar (4) through the connecting block (13). An adjustable telescopic bracket (14) is installed on the bottom surface of the head of the folding bed (15).

5. The reconfigurable multifunctional detection and decontamination robot according to claim 1 or 3, characterized in that: The movable crossbar (4) includes a sliding groove (16) and a movable component. The movable component includes a nut (17) and a lead screw (18). The lead screw (18) is rotatably installed in the sliding groove (16). The nut (17), which is the output end of the movable component, is threadedly connected to the lead screw (18). The movable platform (7) is connected to the nut (17). The lead screw (18) is driven to rotate by a power source. Through the helical pair formed with the nut (17), the nut (17) drives the movable platform (7) to move along the length direction of the sliding groove (16).

6. The reconfigurable multifunctional detection and decontamination robot according to claim 5, characterized in that: The bottom and top of the sliding groove (16) are respectively embedded with angular contact ball bearings (21), and the two ends of the lead screw (18) are rotatably connected to the bottom and top of the sliding groove (16) through the angular contact bearings (21); the bottom and top inner sides of the sliding groove (16) are respectively equipped with bearing end caps (22), the inner ring of the angular contact bearing (21) is axially limited by the stop on the sliding groove (16) and the shoulder on the lead screw (18), and the outer ring of the angular contact bearing (21) is axially limited by the bearing end caps (22) and the stop on the sliding groove (16).

7. The reconfigurable multifunctional detection and decontamination robot according to claim 1 or 3, characterized in that: The mobile stage (7) has a power unit and a rotating unit. The power unit of the mobile stage (7) is connected to the output end of the moving component. The rotating unit of the mobile stage (7) is driven to rotate by the power unit. The entire mobile stage (7) is driven to move along the length direction of the moving crossbar (4) by the moving component. The local detection and decontamination unit (5) and the comprehensive decontamination unit (6) are respectively connected to the rotating unit of the mobile stage (7) and have the degree of freedom to rotate with the rotating unit and the degree of freedom to move with the mobile stage (7).

8. The reconfigurable multifunctional detection and decontamination robot according to claim 7, characterized in that: The power unit of the mobile platform (7) is a rotary motor (23), and the rotating part is a rotary connecting seat (24). The rotary motor (23) is installed in the inner cavity of the rotary connecting seat (24), and the output end of the rotary motor (23) is connected to the output end of the mobile component; or, the rotary motor (23) is fixedly connected to the output end of the mobile component, and the output end of the rotary motor (23) is connected to the rotary connecting seat (24); the local detection and decontamination unit (5) and the comprehensive decontamination unit (6) are respectively connected to the rotary connecting seat (24).

9. The reconfigurable multifunctional detection and decontamination robot according to claim 1 or 3, characterized in that: The comprehensive disinfection unit (6) includes a connector (37) and multiple spray seats with spray heads (43). The spray seats are connected in sequence. Adjacent spray seats and the connector (37) and the spray seat are connected by corrugated pipes. Adjacent spray seats and the spray seat and the connector (37) are deformed by corrugated pipes. The spray seat is a hollow structure. At least one spray seat is connected to the source of the washing liquid.

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