Multifunctional detection and disinfection integrated device

Abstract

This invention belongs to the field of mechanical automation engineering, specifically a multifunctional integrated detection and decontamination device. A lifting assembly is mounted on the guide column, and a rotary table assembly has a power unit and a rotating unit. The power unit is connected to the output end of the lifting assembly, and the rotating unit is driven to rotate by the power unit. The entire rotary table assembly is lifted and lowered along the length of the guide column by the lifting assembly. A partial decontamination module and a comprehensive decontamination module are respectively connected to the rotating unit of the rotary table assembly. One end of the partial decontamination module is connected to the rotating unit of the rotary table assembly, and the other end is the execution unit that enables integrated detection and decontamination. The comprehensive decontamination module is a deformable spray pipe arm that sprays washing liquid onto contaminated personnel. This invention can detect and decontaminate radioactive material contamination on the body surface of personnel working in nuclear environments, effectively reducing the radiation dose to contaminated personnel and minimizing the spread of contamination. It features multiple functions, high efficiency, and wide applicability.

Description

Technical Field

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

[0002] With the development of human society, nuclear energy is being used more and more widely in the military and various sectors of the national economy. Radioactive materials are widely used in military, medical, scientific research, and industrial and agricultural production. The probability of radionuclide leaks, nuclear reactor accidents, nuclear weapon explosions, and nuclear terrorist attacks is increasing, and radioactive contamination accidents occur frequently. Leaks and releases of radioactive materials cause contamination to personnel, most commonly through surface contamination, which can cause radiation-induced skin damage. If not removed promptly, radioactive nuclides may enter the body through wounds, esophagus, respiratory tract, and pores, causing internal contamination and internal radiation damage; they may also cause the spread of radioactive materials, resulting in environmental pollution and harm to other personnel. Radioactive contamination can cause a series of acute and chronic injuries. Acute injuries include skin radiation damage and acute radiation sickness caused by surface and internal contamination; chronic injuries include cancer, genetic defects, and deformities. Therefore, the decontamination of radioactive materials has significant theoretical and practical importance, and rapid and effective decontamination of surface radionuclide contamination is crucial for the prevention and treatment of radiation sickness.

[0003] Rapid and efficient decontamination at nuclear accident sites is a crucial measure to reduce radiation damage. The most important and effective decontamination of radioactive contamination is rapid and effective decontamination at the accident site as early as possible, which can effectively prevent internal contamination and acute and chronic radiation damage. Nuclear accident sites are often complex situations; before external assistance arrives, decontamination work mainly relies on on-site personnel for self-rescue and mutual aid. However, the removal of radioactive contamination from personnel's skin is highly specialized, with strict procedures and methods, requiring professional training to master. During on-site decontamination, machinery can replace manual labor. Efficient decontamination operations can effectively reduce the radiation dose received by personnel and minimize the possibility of contamination spread. Therefore, research into multifunctional decontamination equipment is essential. Summary of the Invention

[0004] To meet the urgent need for efficient decontamination of personnel working at nuclear contamination sites, this invention aims to provide a multifunctional integrated detection and decontamination device. This device can detect radionuclides on contaminated personnel and, through a combination of comprehensive and partial decontamination modes, efficiently perform detection and decontamination operations, quickly completing the decontamination task.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] This invention includes a guide column, a rotary table assembly, a local decontamination module, and a comprehensive decontamination module. The guide column is equipped with a lifting assembly. The rotary table assembly has a power unit and a rotating unit. The power unit of the rotary table assembly is connected to the output end of the lifting assembly. The rotating unit of the rotary table assembly is driven to rotate by the power unit. The entire rotary table assembly is lifted and lowered along the length of the guide column by the lifting assembly. The local decontamination module and the comprehensive decontamination module are respectively connected to the rotating unit of the rotary table assembly, possessing degrees of freedom to rotate with the rotating unit and to rise and fall with the rotary table assembly. The local decontamination module is a multi-joint robotic arm, with one end connected to the rotating unit of the rotary table assembly and the other end serving as an execution unit capable of integrating detection and decontamination. The comprehensive decontamination module is a deformable spray pipe arm that sprays detergent onto contaminated personnel.

[0007] Wherein: the guide column includes a sliding groove and a lifting assembly; the lifting assembly includes a lifting nut and a lifting screw; the lifting screw is rotatably installed in the sliding groove; the lifting nut, which serves as the output end of the lifting assembly, is threadedly connected to the lifting screw; the power unit of the rotary table assembly is connected to the lifting nut; the lifting screw rotates under the drive of a lifting power source, and through the helical pair formed with the lifting nut, the lifting nut drives the rotary table assembly to rise and fall along the length of the sliding groove.

[0008] The lifting nut is equipped with a slider on one or both sides, and the lifting screw is provided with a guide rail installed in the sliding groove on one or both sides, and the slider is slidably connected to the guide rail.

[0009] Angle contact bearings are embedded in the bottom and top of the sliding groove, and the two ends of the lifting screw are rotatably connected to the bottom and top of the sliding groove through the angle contact bearings, respectively. Bearing end caps are installed on the inner sides of the bottom and top of the sliding groove, and the inner ring of the angle contact bearing is axially limited by the stop on the sliding groove and the shoulder on the lifting screw. The outer ring of the angle contact bearing is axially limited by the bearing end cap and the stop on the sliding groove.

[0010] The power unit of the rotary table assembly 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 lifting assembly; or, the rotary motor is fixedly connected to the output end of the lifting assembly, and the output end of the rotary motor is connected to the rotary connecting seat; the partial decontamination module and the full decontamination module are respectively connected to the rotary connecting seat.

[0011] The local decontamination module 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 the rotating part of the rotary table assembly, and the rotary table, which serves as the execution part for realizing integrated detection and decontamination, is fixedly connected to the output end of the last articulated arm.

[0012] 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.

[0013] 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.

[0014] The first and last articulated arms both output rotational degrees of freedom, while the other articulated arms output extension or rotational degrees of freedom.

[0015] The comprehensive cleaning and disinfection module 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. The corrugated pipes allow for deformation between adjacent spray seats and between the spray seats and the connector. The spray seats have a hollow structure, and at least one spray seat is connected to the source of the washing liquid.

[0016] The advantages and positive effects of this invention are as follows:

[0017] 1. This invention can detect and decontaminate radioactive material contamination on the body surface of personnel working in nuclear environments, effectively reducing the radiation dose to contaminated personnel and minimizing the spread of contamination. It has a wide range of applications and can efficiently and quickly carry out detection and decontamination operations.

[0018] 2. This invention can achieve the combination of comprehensive decontamination mode and local decontamination mode, with a large decontamination operation space, and can complete the decontamination operation more accurately and quickly.

[0019] 3. This invention is an integrated detection, cleaning, and disinfection system that can quickly identify contaminating nuclides, accurately locate contaminated areas, and utilize multiple decontamination methods in combination. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 This is a three-dimensional structural diagram of the guide column of the present invention;

[0022] Figure 3 This is a cross-sectional view of the guide column of the present invention;

[0023] Figure 4 This is a cross-sectional view of the internal structure of the guide column of the present invention;

[0024] Figure 5 This is a three-dimensional structural diagram of the rotary table assembly of the present invention;

[0025] Figure 6 This is a three-dimensional structural diagram of the local decontamination module of the present invention;

[0026] Figure 7 for Figure 6 A three-dimensional structural diagram of the central rotary table;

[0027] Figure 8 This is a three-dimensional structural diagram of the comprehensive decontamination module of the present invention;

[0028] Wherein: 1 is the guide column, 2 is the rotary table assembly, 3 is the partial decontamination module, 4 is the full decontamination module, 5 is the sliding groove, 6 is the lifting nut, 7 is the lifting screw, 8 is the guide rail, 9 is the slider, 10 is the angular contact bearing, 11 is the bearing end cover, 12 is the rotary motor, 13 is the rotary connecting seat, 14 is the first joint arm, 15 is the second joint arm, 16 is the third joint arm, 17 is the fourth joint arm, 18 is the fifth joint arm, 19 is the sixth joint arm, 20 is the rotary table, 21 is the rotary seat, 22 is the rinsing module, 23 is the spray module, 24 is the brushing module, 25 is the detection module, 26 is the connector, 27 is the spray seat A, 28 is the bellows A, 29 is the spray seat B, 30 is the bellows B, 31 is the spray seat C, and 32 is the spray head. Detailed Implementation

[0029] The invention will now be described in further detail with reference to the accompanying drawings.

[0030] like Figures 1-8As shown, the present invention includes a guide column 1, a rotary table assembly 2, a local decontamination module 3, and a comprehensive decontamination module 4. The guide column 1 is equipped with a lifting assembly. The rotary table assembly 2 has a power unit and a rotating unit. The power unit of the rotary table assembly 2 is connected to the output end of the lifting assembly. The rotating unit of the rotary table assembly 2 is driven to rotate by the power unit. The entire rotary table assembly 2 is lifted and lowered along the length of the guide column 1 by the lifting assembly. The local decontamination module 3 and the comprehensive decontamination module 4 are respectively connected to the rotating unit of the rotary table assembly 2, possessing degrees of freedom to rotate with the rotating unit and to rise and fall with the rotary table assembly 2. The local decontamination module 3 is a multi-joint robotic arm, with one end connected to the rotating unit of the rotary table assembly 2 and the other end serving as an execution unit capable of integrating detection and decontamination. The comprehensive decontamination module 4 is a deformable spray pipe arm that sprays detergent onto contaminated personnel. During decontamination operations, the lifting assembly can drive the rotary table assembly 2, the local decontamination module 3, and the full decontamination module 4 to move linearly. The rotary table assembly 2 can drive the local decontamination module 3 and the full decontamination module 4 to rotate, which can efficiently decontaminate the front and back of the contaminated personnel.

[0031] like Figures 1-4 As shown, the guide column 1 in this embodiment includes a sliding groove 5, a lifting assembly, a guide rail 8, a slider 9, an angular contact bearing 10, and a bearing end cap 11. The lifting assembly includes a lifting nut 6 and a lifting screw 7. The lifting screw 7 is rotatably installed in the sliding groove 5. The lifting nut 6, which serves as the output end of the lifting assembly, is threadedly connected to the lifting screw 7, converting the rotational motion of the lifting screw 7 into linear motion. The power unit of the rotary table assembly 2 is connected to the lifting nut 6. The lifting screw 7 rotates under the drive of the lifting power source, and through the helical pair formed with the lifting nut 6, the lifting nut 6 drives the rotary table assembly 2 to rise and fall along the length direction of the sliding groove 5. In this embodiment, angular contact bearings 10 are embedded in the inner holes of the bottom and top of the sliding groove 5, respectively. Bearing end caps 11 are fixed to the inner sides of the bottom and top of the sliding groove 5, respectively, and the bearing end caps 11 abut against the outer ring of the angular contact bearings 10. The two ends of the lifting screw 7 pass through the angular contact bearings 10 at the bottom and top of the sliding groove 5, respectively, and are rotatably connected to the bottom and top of the sliding groove 5 through the angular contact bearings 10. The inner ring of the angular contact bearing 10 is axially limited by the stop on the sliding groove 5 and the shoulder on the lifting screw 7, and the outer ring of the angular contact bearing 10 is axially limited by the bearing end caps 11 and the stop on the sliding groove 5. A slider 9 is installed on one or both sides of the lifting nut 6 (in this embodiment, sliders 9 are installed on each side of the lifting nut 6), and a guide rail 8 installed in the sliding groove 5 is correspondingly provided on one or both sides of the lifting screw 7 (in this embodiment, guide rails 8 are symmetrically installed on both sides of the lifting screw 7). The slider 9 and the guide rail 8 are slidably connected and can move linearly along the length of the guide rail 8 to guide the movement of the lifting nut 6.

[0032] In this embodiment, the lifting power source can be a drive motor, which can be installed on the sliding groove 5 and directly connected to the lifting screw 7, or connected to the lifting screw 7 through a transmission device.

[0033] The guide column 1 in this embodiment is 2200mm high, which can enable decontamination operations on contaminated personnel whose height does not exceed 1.9m.

[0034] like Figures 1-5 As shown, in this embodiment, the power unit of the rotary table assembly 2 is a rotary motor 12, and the rotation unit is a rotary connecting seat 13. The rotary motor 12 is installed in the inner cavity of the rotary connecting seat 13, and the output end of the rotary motor 12 is connected to the lifting nut 6; or, the rotary motor 12 is fixedly connected to the lifting nut 6, and the output end of the rotary motor 12 is connected to the rotary connecting seat 13. In this embodiment, the rotary motor 12 is installed in the inner cavity of the rotary connecting seat 13, and the output end of the rotary motor 12 is connected to the lifting nut 6, which can realize the rotary connecting seat 13 rotating 360° around the rotation center. The local decontamination module 3 and the comprehensive decontamination module 4 are respectively connected to both ends of the rotary connecting seat 13.

[0035] The local decontamination module 3 includes a rotary table 20 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. Similarly, 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 rotary table assembly 2. The rotary table 20, serving as the execution unit for integrated detection and decontamination, is fixedly connected to the output end of the last articulated arm. Both the first and last articulated arms output rotational degrees of freedom, while the other articulated arms output extension or rotational degrees of freedom.

[0036] like Figures 1-7 As shown, the local decontamination module 3 in this embodiment is a six-degree-of-freedom robotic arm, consisting of a first joint arm 14, a second joint arm 15, a third joint arm 16, a fourth joint arm 17, a fifth joint arm 18, and a sixth joint arm 19. The fixed end of the first joint arm 14 is connected to one end of the rotary connecting seat 13, and the output end of the first joint arm 14 is connected to the fixed end of the second joint arm 15. The fixed end of the third joint arm 16 is connected to the output end of the second joint arm 15, and the output end of the third joint arm 16 is connected to the fixed end of the fourth joint arm 17. The fixed end of the fifth joint arm 18 is connected to the output end of the fourth joint arm 17, and the output end of the fifth joint arm 18 is connected to the fixed end of the sixth joint arm 19. The output end of the sixth joint arm 19 is connected to the rotary table 20. Each joint arm in this embodiment outputs a rotational degree of freedom.

[0037] The rotating table 20 in this embodiment includes a rotating base 21, a rinsing module 22, a spraying module 23, a brushing module 24, and a detection module 25. One side of the rotating base 21 is connected to the output end of the end articulated arm (i.e., the sixth articulated arm 19), and the other side of the rotating base 21 is forked in a cross shape. The four forks of the cross shape are connected to the rinsing module 22, the spraying module 23, the brushing module 24, and the detection module 25 in a counterclockwise direction, respectively. Each module can rotate 360° around the axis of the rotating base 21 under the drive of the sixth articulated arm 19. The forks corresponding to the rinsing module 22 and the spraying module 23 are hollow structures, and the forks corresponding to the rinsing module 22 and / or the spraying module 23 are connected to the source of the washing liquid.

[0038] The brushing module 24 in this embodiment is existing technology and can be a brush with a flexible end. The rinsing module 22, spraying module 23, and detection module 25 in this embodiment are all commercially available products. The rinsing module 22 is a flat nozzle manufactured by Shenzhen Borun Spray Technology Co., Ltd., the spraying module 23 is a stainless steel universal nozzle manufactured by Shenzhen Borun Spray Technology Co., Ltd., and the detection module 25 is a product of Nanjing Nanhe Instrument Co., Ltd.

[0039] In this embodiment, the detection module 25, the rotary motor 12, and the lifting 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 25 are transmitted to the controller, which then controls the lifting power source and the rotary motor 12, ultimately moving the rotary table assembly 2, the partial decontamination module 3, and the full decontamination module 4 to the required positions.

[0040] The comprehensive cleaning and disinfection module 4 includes a connector 26 and multiple spray seats with spray heads 32. The spray seats are connected in sequence. Adjacent spray seats and the connector 26 and the spray seats are connected by corrugated pipes. The corrugated pipes enable deformation between adjacent spray seats and between the spray seats and the connector 26. The spray seats have a hollow structure, and at least one spray seat is connected to the source of the washing liquid.

[0041] like Figures 1-8As shown, the comprehensive decontamination module 4 in this embodiment is a spray pipe arm with adjustable angle, including a connector 26, a spray seat A27, a bellows A28, a spray seat B29, a bellows B30, a spray seat C31, and a spray head 32. One end of the connector 26 is connected to the other end of the rotary connecting seat 13, and the other end of the connector 26 is connected to the spray seat A27; one end of the bellows A28 is connected to the spray seat A27, and the other end of the bellows A28 is connected to one end of the spray seat B29; the bellows B30... One end of the bellows is connected to the other end of the spray seat B29, and the other end of the bellows B30 is connected to the spray seat C31; spray heads 32 are evenly distributed on the spray seats A27, B29 and C31 respectively, and the working range of the comprehensive decontamination module 4 is adjusted by adjusting the curvature of the bellows A28 and B30; the comprehensive decontamination module 4 in this embodiment can achieve a decontamination width of up to 1.2m, and the bellows A28 and B30 can be metal bellows, which can achieve a maximum bending of ±90°.

[0042] The working principle of this invention is as follows:

[0043] During decontamination, the guide column 1 of this invention is positioned at the same height as the contaminated person, with the local decontamination module 3 and the full decontamination module 4 positioned at the front and back of the contaminated person, respectively. When not performing decontamination, the rotary table assembly 2 and its connected local decontamination modules 3 and 4 are positioned above the contaminated person. The curvature of the bellows A28 and B30 of the full decontamination module 4 is adjusted to envelop the contaminated person. The joints of the local decontamination mode 3 are controlled so that the rotary table 20 at the end of the sixth robotic arm 19 faces the contaminated area of ​​the person. During decontamination, the lifting screw 7 of the guide column 1 rotates, driving the lifting nut 6 to move in a uniform linear motion from the head to the feet of the contaminated person. The spray nozzles 32 on the full decontamination module 4 spray detergent, while the local decontamination module 3 performs detection work on the contaminated area. After the lifting assembly drives the full decontamination module 4 to the foot position, it returns to the contaminated area detected by the local decontamination module 3. The rotating seat 21 on the rotating platform 20 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 22, spraying module 23, or brushing module 24 is selected according to the needs of the contaminants on the contaminated person. After the local decontamination is completed, the lifting screw 7 rotates to drive the rotary table assembly 2 and the connected local decontamination module 3 and full decontamination module 4 back to the initial position at the top. At this time, the rotary motor 12 of the rotary table assembly 2 rotates, driving the local decontamination module 3 and full decontamination module 4 to complete a 180° rotation. At this time, the local decontamination module 3 and full decontamination module 4 are respectively located at the back and front of the contaminated person. Adjust the angle of each joint arm of the local decontamination module 3 so that the rotating platform 20 at the end faces the contaminated area of ​​the person. The lifting screw 7 rotates to drive the decontamination module from the head to the feet to perform a secondary decontamination operation. After the full decontamination module 4 reaches the foot of the object, it returns to the contaminated area detected by the local decontamination module 3. The rotating seat 21 on the rotary table 20 rotates, and the corresponding decontamination module is used for radionuclide decontamination according to the actual contamination situation. After the local decontamination is completed, the rotary table assembly 2, the local decontamination module 3, and the full decontamination module 4 return to the initial position at the top of the guide column 1, completing the decontamination task.

Claims

1. A multifunctional integrated detection, cleaning, and disinfection device, characterized in that: The system includes a guide column (1), a rotary table assembly (2), a local decontamination module (3), and a comprehensive decontamination module (4). The guide column (1) is equipped with a lifting assembly. The rotary table assembly (2) has a power unit and a rotating unit. The power unit of the rotary table assembly (2) is connected to the output end of the lifting assembly. The rotating unit of the rotary table assembly (2) is driven to rotate by the power unit. The entire rotary table assembly (2) is lifted and lowered along the length of the guide column (1) by the lifting assembly. The local decontamination module... (3) and the comprehensive decontamination module (4) are respectively connected to the rotating part of the rotary table assembly (2), and have the degree of freedom to rotate with the rotating part and the degree of freedom to rise and fall with the rotary table assembly (2). The local decontamination module (3) is a multi-joint robotic arm. One end of the local decontamination module (3) is connected to the rotating part of the rotary table assembly (2), and the other end is an execution part that can realize integrated detection and decontamination. The comprehensive decontamination module (4) is a deformable spray pipe arm, which sprays washing liquid to contaminated personnel.

2. The multifunctional detection, decontamination and disinfection integrated device according to claim 1, characterized in that: The guide column (1) includes a sliding groove (5) and a lifting assembly. The lifting assembly includes a lifting nut (6) and a lifting screw (7). The lifting screw (7) is rotatably installed in the sliding groove (5). The lifting nut (6), which is the output end of the lifting assembly, is threadedly connected to the lifting screw (7). The power unit of the rotary table assembly (2) is connected to the lifting nut (6). The lifting screw (7) is driven to rotate by the lifting power source. Through the helical pair formed with the lifting nut (6), the lifting nut (6) drives the rotary table assembly (2) to rise and fall along the length direction of the sliding groove (5).

3. The multifunctional detection, decontamination and disinfection integrated device according to claim 2, characterized in that: A slider (9) is installed on one or both sides of the lifting nut (6), and a guide rail (8) installed in the sliding groove (5) is provided on one or both sides of the lifting screw (7), and the slider (9) is slidably connected to the guide rail (8).

4. The multifunctional detection, decontamination and disinfection integrated device according to claim 2, characterized in that: Angle contact bearings (10) are embedded in the bottom and top of the sliding groove (5), and the two ends of the lifting screw (7) are rotatably connected to the bottom and top of the sliding groove (5) through the angle contact bearings (10); bearing end caps (11) are installed on the inner sides of the bottom and top of the sliding groove (5), the inner ring of the angle contact bearing (10) is axially limited by the stop on the sliding groove (5) and the shoulder on the lifting screw (7), and the outer ring of the angle contact bearing (10) is axially limited by the bearing end cap (11) and the stop on the sliding groove (5).

5. The multifunctional detection, decontamination and disinfection integrated device according to claim 1, characterized in that: The power unit of the rotary table assembly (2) is a rotary motor (12), and the rotary part is a rotary connecting seat (13). The rotary motor (12) is installed in the inner cavity of the rotary connecting seat (13), and the output end of the rotary motor (12) is connected to the output end of the lifting assembly; or, the rotary motor (12) is fixedly connected to the output end of the lifting assembly, and the output end of the rotary motor (12) is connected to the rotary connecting seat (13); the local decontamination module (3) and the comprehensive decontamination module (4) are respectively connected to the rotary connecting seat (13).

6. The multifunctional detection, decontamination and disinfection integrated device according to claim 1, characterized in that: The local decontamination module (3) includes a rotary table (20) 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 installed on the rotating part of the rotary table assembly (2), and the rotary table (20), which serves as the execution part that can realize integrated detection and decontamination, is fixedly connected to the output end of the last articulated arm.

7. The multifunctional detection, decontamination and disinfection integrated device according to claim 6, characterized in that: The rotating platform (20) includes a rotating base (21), a rinsing module (22), a spraying module (23), a brushing module (24), and a detection module (25). One side of the rotating base (21) is connected to the output end of the end articulated arm. The other side of the rotating base (21) is provided with the rinsing module (22), the spraying module (23), the brushing module (24), and the detection module (25). The rinsing module (22), the spraying module (23), the brushing module (24), and the detection module (25) rotate around the axis of the rotating base (21) under the drive of the end articulated arm.

8. The multifunctional detection, decontamination and disinfection integrated device according to claim 7, characterized in that: The other side of the rotating seat (21) is forked in a cross shape. The four forks of the cross shape are respectively connected to the rinsing module (22), the spraying module (23), the brushing module (24) and the detection module (25). The forks corresponding to the rinsing module (22) and the spraying module (23) are hollow structures. The forks corresponding to the rinsing module (22) and / or the forks corresponding to the spraying module (23) are connected to the source of the washing liquid.

9. The multifunctional detection, decontamination and disinfection integrated device according to claim 6, characterized in that: The first and last articulated arms both output rotational degrees of freedom, while the other articulated arms output extension or rotational degrees of freedom.

10. The multifunctional detection, decontamination and disinfection integrated device according to claim 1, characterized in that: The comprehensive cleaning and disinfection module (4) includes a connector (26) and multiple spray seats with spray heads (32). The spray seats are connected in sequence. The adjacent spray seats and the connector (26) and the spray seat are connected by corrugated pipes. The adjacent spray seats and the spray seat and the connector (26) are deformed by corrugated pipes. The spray seat is a hollow structure. At least one of the spray seats is connected to the source of the washing liquid.

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