A nuclear accident rescue robot

Abstract

The present invention provides a nuclear accident rescue robot, which belongs to the technical field of nuclear accident rescue equipment, and includes: a mobile lifting bracket; a radiation shield; a plurality of adjustment units, which are evenly arranged along the outer surface of the radiation shield; each adjustment unit includes a mounting frame, a driving gear assembly, a driven gear and a moving screw; the driven gear is rotatably arranged on the mounting frame; one end of the moving screw passes through the driven gear and the mounting frame in sequence; the driving gear assembly is arranged on the mounting frame and is located on one side of the driven gear and meshes with the driven gear; an adjustment ball is fixed at one end of the moving screw, and a pressure sensor is arranged at the end of the adjustment ball; a plurality of flexible wrapping components are staggered along the inner side of the radiation shield in the circumferential direction, including an arched flexible plate and two traction devices; the two traction devices are respectively fixed and symmetrically arranged on the cover edge of the radiation shield; the two ends of the flexible plate are respectively connected to the two traction devices. The robot provides a flexible protective mechanical claw that can quickly wrap a target object or a wounded person, and achieves the purpose of stable transfer and nuclear radiation sputtering protection.

Description

Technical Field

[0001] The invention relates to the technical field of nuclear accident rescue equipment, and in particular to a nuclear accident rescue robot. Background Art

[0002] Nuclear accident rescue refers to emergency actions and measures taken to reduce damage, protect the lives and environment of personnel, and restore normal operations when an accident occurs in a nuclear power plant or other nuclear facilities. Nuclear accident rescue covers the entire process from rapid response to long-term recovery after the accident. The main difficulties faced by nuclear accident rescue are the relatively complex high-radiation and harsh environment. High radiation intensity may endanger the health of rescue workers and require special protection and equipment. The accident site may have problems such as severe damage, complex structure and leakage of hazardous substances. In addition, conditions such as extreme temperatures, smoke and pollution make rescue operations more challenging. Therefore, efficient nuclear accident rescue robots and equipment are needed for detection and processing. Nuclear accident rescue robots are robot systems specially designed and developed for rescue and processing in nuclear accidents. These robots play a vital role at the nuclear accident site, mainly including detecting radiation, performing dangerous tasks, providing data and supporting rescue workers.

[0003] Most of the existing nuclear accident rescue robots are tracked exploration robots that perform operations such as grabbing and carrying through multi-jointed manipulators. However, when facing the wounded or special-shaped targets, the design of nuclear accident robots needs to consider the stability of the grabbing and the protection against nuclear radiation sputtering. In addition, when using rigid mechanical claws to perform the grabbing action, the rigid contact of points, lines, and surfaces generated can easily squeeze the wounded, causing secondary injuries, or damage the target. Existing nuclear accident robots are difficult to solve the above problems. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a nuclear accident rescue robot, which provides a flexible protective mechanical claw that can quickly wrap the target object or the wounded, and achieve the purpose of stable transfer and nuclear radiation sputtering protection.

[0005] The present invention provides the following technical solutions.

[0006] A nuclear accident rescue robot, comprising:

[0007] Mobile lifting bracket;

[0008] A radiation shield, the outer side of which is connected to the execution end of the mobile lifting bracket;

[0009] A plurality of adjustment units are evenly arranged along the outer surface of the radiation shield; each of the adjustment units comprises a mounting frame, a driving gear assembly, a driven gear and a moving screw; the mounting frame is fixedly mounted on the outer side of the radiation shield, and the driven gear is rotatably arranged on the mounting frame; one end of the moving screw passes through the driven gear, the mounting frame and the radiation shield in sequence, and is threadedly matched with the driven gear and the radiation shield, and is slidingly matched with the mounting frame; the driving gear assembly is arranged on the mounting frame and is located on one side of the driven gear, meshing with the driven gear; an adjustment ball is fixed to one end of the moving screw; a pressure sensor is arranged at the end of the adjustment ball; during transfer, when the plurality of adjustment units located near the edge of the radiation shield move inward, they penetrate into the bottom of the transferred object and lift it up, and the adjustment balls of other adjustment units abut against the outer side of the transferred object;

[0010] A plurality of flexible wrapping components are staggeredly arranged on the inner side of the radiation shield along the circumferential direction; each of the flexible wrapping components includes an arched flexible plate and two traction devices; the two traction devices are respectively fixed and symmetrically arranged on the edge of the radiation shield; the two ends of the flexible plate are respectively connected to the two traction devices, and the curvature is changed by the two traction devices, and the object is tightened when it is transferred; the arch of the flexible plate is provided with a sliding groove along the length direction, and the adjustment ball of the adjustment unit located in the same column of the flexible plate is embedded and slides in the groove of the sliding groove; the centers of the arches of the plurality of flexible plates are fixedly connected.

[0011] Preferably, it also includes a center adjustment component; the center adjustment component includes:

[0012] A central screw, one end of which passes through the arc top of the radiation shield and cooperates with the thread of the radiation shield;

[0013] A pre-tightening ball is fixedly connected to one end of the central screw rod; the pre-tightening ball abuts against the center of the plurality of flexible plate domes;

[0014] A center nut is connected to the other end of the center screw.

[0015] Preferably, the thickness of the flexible plate gradually decreases from both ends to the center; the centers of a plurality of the flexible plate domes are fixedly connected to the preload balls.

[0016] Preferably, the mounting frame includes a mounting plate; a plurality of the mounting plates are fixed by a positioning ring; the positioning ring is fixedly connected to the radiation shield through a fixing plate; the driven gear is rotatably arranged on the top of the mounting plate, and one end of the movable screw rod passes through the driven gear and the mounting plate in sequence, and is threadedly matched with the driven gear, and slidingly matched with the mounting plate.

[0017] Preferably, the driving gear assembly comprises:

[0018] A driving motor, fixedly arranged at the bottom of the mounting plate, with its output shaft passing through the mounting plate;

[0019] A driving gear is rotatably arranged on the top of the mounting plate and is fixedly connected to the output shaft of the driving motor; the driving gear is meshed with the driven gear.

[0020] Preferably, the traction device comprises:

[0021] Two frame plates are fixedly arranged on the cover edge of the radiation shield;

[0022] The winding drum has two ends which are rotatably connected to the two frame plates respectively;

[0023] A winding motor is fixedly arranged on the outer side of one of the frame plates, and its output shaft is drivingly connected to one end of the winding drum;

[0024] One end of the flexible belt is fixed to the winding drum, and after being wound on the winding drum, the other end of the flexible belt is fixedly connected to the end of the flexible board.

[0025] Preferably, the flexible plate is a rubber plate.

[0026] Preferably, the mobile lifting bracket comprises:

[0027] A top frame, the bottom of which is fixedly connected to the outer side of the radiation shield via a plurality of connecting rods;

[0028] Multi-jointed arm, carried by a mobile platform;

[0029] An adjustment block, fixedly arranged on the execution end of the multi-joint arm;

[0030] A moving assembly is mounted on one side of the adjusting block;

[0031] Two moving blocks, arranged on the moving assembly and driven to move by the moving assembly;

[0032] The swing assembly is arranged on the moving block, and the swing end of the swing assembly is connected to the center of the top frame.

[0033] Preferably, the moving component comprises:

[0034] A rotating motor is arranged in the regulating block;

[0035] One end of the adjusting screw is drivingly connected to the output shaft of the rotating motor; one end of the two moving blocks is threadedly matched with the adjusting screw.

[0036] Preferably, the swing assembly comprises:

[0037] A swing arm, one end of which is rotationally connected to the two moving blocks via a first short shaft;

[0038] A first motor, fixedly arranged on the outside of one of the moving blocks, and having an output shaft drivingly connected to the first short shaft;

[0039] Two motor plates are respectively fixedly arranged on the top of the top frame; the other end of the swing arm is rotationally connected with the two motor plates through a second short shaft;

[0040] The second motor is fixedly arranged on the outer side of one of the motor plates, and its output shaft is drivingly connected to the second short shaft.

[0041] Beneficial effects of the present invention:

[0042] The present invention proposes a nuclear accident rescue robot, which provides a flexible protective mechanical claw, which provides multiple pre-tightening points through the adjustment balls at the ends of multiple adjustment units, and fully supports the outer side of the transfer object through the spatial moving point position. The adjustment unit at the bottom sets up the transfer object to achieve the bottom support of the transfer object, and cooperates with multiple traction devices to pre-tighten the flexible plate, so that the flexible plate combines with the multiple adjustment units for bottom support and other adjustment units that provide pre-tightening support points in the circumferential direction to completely and tightly wrap the object, and achieve flexible wrapping of the transfer object. The grasping stability is better, and there is no damage caused by rigid grasping for special objects. The robot cooperates with the special structure of the radiation shield to effectively protect the object when transferring it, and avoid secondary damage to the transfer object caused by the radiation of the environment and the radiation materials sputtered by the explosion. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is an overall assembly structure diagram of a nuclear accident rescue robot according to an embodiment of the present invention;

[0044] Figure 2 is another angled overall assembly structure diagram of the nuclear accident rescue robot according to an embodiment of the present invention;

[0045] Figure 3 is a partial A structural diagram of the nuclear accident rescue robot according to an embodiment of the present invention;

[0046] Figure 4 is a diagram showing the internal structure of the radiation shield of the nuclear accident rescue robot according to an embodiment of the present invention;

[0047] Figure 5 This is an internal diagram of the nuclear accident rescue robot according to an embodiment of the present invention after removing multiple flexible plates.

[0048] Among them, 1. Adjustment block; 2. Multi-joint arm; 3. Connecting rod; 4. Center nut; 5. Center screw; 6. Driving motor; 7. Radiation shield; 8. Positioning ring; 9. Mounting plate; 10. Driven gear; 11. Moving screw; 12. Driving gear; 13. Top frame; 14. Swing arm; 15. Moving block; 16. Adjustment screw; 17. Fixed plate; 18. Adjustment ball; 19. Flexible plate; 20. Flexible belt; 21. Winding drum; 22. Winding motor; 23. Frame plate. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0050] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are 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 limiting the present invention. The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; in the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0052] Example

[0053] When facing the wounded or special-shaped targets, the design of the nuclear accident robot needs to consider the stability of the grasping and the protection against nuclear radiation splashing. In addition, the use of rigid mechanical claws to perform rigid grasping actions is very likely to cause secondary injuries to the wounded and damage the target. To this end, this embodiment proposes a nuclear accident rescue robot, the specific structure of which is as follows: Figure 1 and Figure 2 As shown, Figure 1 and Figure 2The schematic diagrams of the overall structure are two different angles. The main structure includes a mobile lifting bracket, a radiation shield 7, multiple adjustment units and multiple flexible wrapping components. The outer side of the radiation shield 7 is connected to the execution end of the mobile lifting bracket, and the mobile lifting bracket provides the posture of the radiation shield 7 and the feeding in the corresponding grasping action.

[0054] Specifically, Figure 1 and Figure 3 As shown, Figure 3 The figure is a partial A structural diagram, showing the structure of the adjustment unit. Multiple adjustment units are evenly arranged along the outer surface of the radiation shield 7; each adjustment unit includes a mounting frame, a driving gear assembly, a driven gear 10 and a moving screw 11; the mounting frame is fixedly mounted on the outer side of the radiation shield 7, and the driven gear 10 is rotatably mounted on the mounting frame; one end of the moving screw 11 passes through the driven gear 10, the mounting frame and the radiation shield 7 in sequence, and is threadedly matched with the driven gear 10 and the radiation shield 7, and is slidably matched with the mounting frame; the driving gear assembly is arranged on the mounting frame, and is located on one side of the driven gear 10, and is meshed with the driven gear 10; an adjustment ball 18 is fixed at one end of the moving screw 11, and a pressure sensor is arranged at the end of the adjustment ball 18 to feedback the support force and ensure the support contact with the transfer object. The multiple adjustment units of the present invention are realized by moving the movable screw 11 relative to the radiation shield 7, and specifically by a screw combined with a gear transmission structure. The transfer object is limited on the outside by multiple adjustment balls 18. When the multiple adjustment units located near the edge of the radiation shield move inward, they penetrate into the bottom of the transferred object to lift it up, and completely clamp it in the radiation shield 7.

[0055] like Figure 4 and Figure 5 As shown, Figure 4 and Figure 5 All of them are internal structure diagrams of radiation shield 7. Figure 5The structural diagram after removing multiple flexible plates 19. Among them, multiple flexible wrapping components are staggered along the circumferential direction on the inner side of the radiation shield 7; each flexible wrapping component includes an arched flexible plate 19 and two traction devices; the two traction devices are respectively fixed and symmetrically arranged on the cover edge of the radiation shield 7; the two ends of the flexible plate 19 are respectively connected to the two traction devices, and the curvature is changed by the two traction devices; the arch of the flexible plate 19 is provided with a sliding groove along the length direction, and the adjustment ball 18 of the adjustment unit in the same column of the flexible plate 19 is embedded and slides in the groove of the sliding groove; the center of the arch of multiple flexible plates 19 is fixedly connected. After the multiple adjustment balls 18 completely position the transport object, it is further wrapped along its outer surface arc through the flexible plate 19. Specifically, the flexible plate 19 is pulled by two traction devices, and the adjustment ball 18 slides on the back of the flexible plate 19, thereby changing the curvature of the flexible plate 19. During transportation, the outer side of the transport object is fully supported by multiple spatial moving points provided by multiple adjustment units, and the multiple adjustment units at the bottom lift up the transport object to achieve bottom support for the transport object. Multiple traction devices are used to stretch the flexible plate and change the curvature to achieve pre-tightening, so that the flexible plate 19 is combined with the multiple adjustment units for bottom support and other adjustment units that provide pre-tightening support points circumferentially to completely and tightly wrap the object.

[0056] In order to increase the stability and adjustability of the multiple flexible wrapping components, and further increase the pre-tightening function, such as Figure 1 As shown, it also includes a center adjustment component; the center adjustment component includes a center screw 5, a preload ball and a center nut 4. One end of the center screw 5 passes through the arc top of the radiation shield 7 and is threaded with the radiation shield 7; the preload ball is fixedly connected to one end of the center screw 5; the preload ball abuts against the center of the arch tops of multiple flexible plates 19; and the center nut 4 is connected to the other end of the center screw 5. By rotating the center nut 4, the depth of the center screw 5 entering the radiation shield 7 can be preliminarily adjusted, and then the curvature of the flexible plate 19 can be preliminarily adjusted, and the curvature adjustable range of multiple flexible plates 19 can be appropriately changed. The main purpose of pre-adjusting the curvature of the flexible plate 19 is also to adapt to the size and shape of the transport object. When the pre-adjusted curvature is larger, the lateral range of the object that can be accommodated is further increased, and vice versa, the longitudinal range is increased. Furthermore, the center screw 5 can also adopt the screw gear transmission structure of the adjustment unit, which is adjusted during the entire transport and grabbing, and further provides preload force.

[0057] In order to improve operability and reduce the influence of the cross-overlapping parts of the flexible plates 19 on the pre-tightening balls and the adjusting balls 18, the pre-tightening balls can better fit the middle parts of the multiple flexible plates 19, and the thickness of the flexible plates 19 gradually decreases from both ends to the center. The centers of the arches of the multiple flexible plates 19 are fixedly connected to the pre-tightening balls, which further reduces the influence of the cooperation between the pre-tightening balls and the flexible plates 19.

[0058] The present invention further proposes an embodiment of the mounting frame and the driving gear assembly, specifically as follows Figure 2 and Figure 3 As shown. The mounting frame includes a mounting plate 9; a plurality of mounting plates 9 are fixed by a positioning ring 8; the positioning ring 8 is fixedly connected to the radiation shield 7 through a fixing plate 17; a driven gear 10 is rotatably arranged on the top of the mounting plate 9, and one end of a moving screw 11 passes through the driven gear 10 and the mounting plate 9 in sequence, and is threadedly matched with the driven gear 10, and is slidingly matched with the mounting plate 9. The driving gear assembly includes a driving motor 6 and a driving gear 12. The driving motor 6 is fixedly arranged at the bottom of the mounting plate 9, and its output shaft passes through the mounting plate 9; the driving gear 12 is rotatably arranged on the top of the mounting plate 9, and is fixedly connected to the output shaft of the driving motor 6; the driving gear 12 is meshed with the driven gear 10.

[0059] In order to improve the fit between the multiple flexible plates 19 and the transport object, a traction device is used to adjust the posture of the flexible plates 19. Preferably, the flexible plates 19 can be rubber plates, and the traction device stretches the rubber plates when adjusting the posture of the flexible plates 19 so that they are completely fitted with the transport object. Figure 3 As shown, the traction device includes a winding drum 21, a winding motor 22 and a flexible belt 20. Two frame plates 23 are fixedly arranged on the cover edge of the radiation shield 7; the two ends of the winding drum 21 are respectively rotatably connected with the two frame plates 23; the winding motor 22 is fixedly arranged on the outside of one frame plate 23, and its output shaft is drivingly connected with one end of the winding drum 21; one end of the flexible belt 20 is fixed to the winding drum 21, and after being wound on the winding drum 21, the other end thereof is fixedly connected with the end of the flexible plate 19.

[0060] The mobile lifting bracket provides the posture of the radiation shield 7 and the feeding in the corresponding grasping action. Usually, the mobile lifting bracket can be performed by a multi-joint robot arm, a truss-type rectangular coordinate robot arm, or a parallel robot arm. This embodiment provides a multi-joint embodiment.

[0061] Specifically, Figure 1As shown, the mobile lifting bracket includes a top frame 13, a multi-joint arm 2, an adjustment block 1, a moving assembly, a swing assembly and two moving blocks 5. The bottom of the top frame 13 is fixedly connected to the outer side of the radiation shield 7 through a plurality of connecting rods 3; the multi-joint arm 2 is carried by a mobile platform; the adjustment block 1 is fixedly arranged at the execution end of the multi-joint arm 2; the moving assembly is mounted on one side of the adjustment block 1; the two moving blocks 5 are arranged on the moving assembly and driven to move by the moving assembly; the swing assembly is arranged on the moving block 5, and its swing end is connected to the center of the top frame 13. Furthermore, the moving assembly adopts a screw slider structure. Under the condition of the self-weight of the entire robot, when the adjustment screw 16 rotates, the moving block 5 moves along the screw. Specifically, the moving assembly includes a rotating motor and an adjusting screw 16. The rotating motor is arranged in the adjusting block 1; one end of the adjusting screw 16 is drivingly connected to the output shaft of the rotating motor; one end of the two moving blocks 5 is threadedly matched with the adjusting screw 16.

[0062] Furthermore, the swing assembly is still implemented by the motor and swing arm 14 structure. Specifically, the swing assembly includes the swing arm 14, the first motor, the second motor and two motor plates. One end of the swing arm 14 is rotatably connected to the two moving blocks 5 through the first short shaft; the first motor is fixedly arranged on the outside of a moving block 5, and its output shaft is transmission-connected to the first short shaft; the two motor plates are respectively fixedly arranged on the top of the top frame 13; the other end of the swing arm 14 is rotatably connected to the two motor plates through the second short shaft; the second motor is fixedly arranged on the outside of a motor plate, and its output shaft is transmission-connected to the second short shaft.

[0063] The robot proposed in this embodiment provides a flexible protective mechanical claw, which provides multiple pre-tightening points through the adjustment balls 18 at the ends of multiple adjustment units, fully supports the outer side of the transfer object through the spatial moving point, and the adjustment unit at the bottom sets up the transfer object to achieve the bottom support of the transfer object, and cooperates with multiple traction devices to pre-tighten the flexible plate, so that the flexible plate 19 combines the multiple adjustment units for bottom support and other adjustment units that provide pre-tightening support points in the circumferential direction to completely and tightly wrap the object, and achieve the flexible wrapping grasping of the transfer object, and the grasping stability is better. At the same time, there is no damage caused by rigid grasping for special objects. The robot cooperates with the special structure of the radiation shield 7 to effectively protect the object when transferring it, and avoid the radiation of the environment and the radiation materials splashed by the explosion to cause secondary damage to the transfer object.

[0064] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A nuclear accident rescue robot, characterized in that: include: Mobile lifting bracket; A radiation shield (7), the outer side of which is connected to the execution end of the movable lifting bracket; A plurality of adjustment units are evenly arranged along the outer surface of the radiation shield (7); each of the adjustment units comprises a mounting frame, a driving gear assembly, a driven gear (10) and a moving screw (11); the mounting frame is fixedly mounted on the outer side of the radiation shield (7), and the driven gear (10) is rotatably mounted on the mounting frame; one end of the moving screw (11) passes through the driven gear (10), the mounting frame and the radiation shield (7) in sequence, and is threadedly engaged with the driven gear (10) and the radiation shield (7) , slidingly matched with the mounting frame; the driving gear assembly is arranged on the mounting frame and is located on one side of the driven gear (10), meshing with the driven gear (10); an adjusting ball (18) is fixed to one end of the moving screw (11); a pressure sensor is arranged at the end of the adjusting ball (18); when the object is transferred, the plurality of adjusting units located near the edge of the radiation shield (7) move inward, penetrate the bottom of the transferred object to lift it, and the adjusting balls (18) of the other adjusting units abut against the outer side of the transferred object; A plurality of flexible wrapping components are staggeredly arranged on the inner side of the radiation shield (7) along the circumferential direction; each of the flexible wrapping components comprises an arched flexible plate (19) and two traction devices; the two traction devices are respectively fixed and symmetrically arranged on the cover edge of the radiation shield (7); the two ends of the flexible plate (19) are respectively connected to the two traction devices, and the curvature is changed by the two traction devices, and the object is tightened when it is transferred; the arch of the flexible plate (19) is provided with a sliding groove along the length direction, and the adjustment ball (18) of the adjustment unit located in the same column of the flexible plate (19) is embedded and slides in the groove of the sliding groove; the centers of the arches of the plurality of flexible plates (19) are fixedly connected.

2. The nuclear accident rescue robot according to claim 1, characterized in that: Also includes a center adjustment component; the center adjustment component includes: A central screw (5), one end of which passes through the arc top of the radiation shield (7) and is threadedly engaged with the radiation shield (7); A pre-tightening ball is fixedly connected to one end of the central screw rod (5); the pre-tightening ball abuts against the center of the arches of the plurality of flexible plates (19); The central nut (4) is connected to the other end of the central screw (5).

3. The nuclear accident rescue robot according to claim 2, characterized in that: The thickness of the flexible plate (19) gradually decreases from both ends to the center; the centers of the arches of the multiple flexible plates (19) are fixedly connected to the preloaded balls.

4. The nuclear accident rescue robot according to claim 1, characterized in that: The mounting frame comprises a mounting plate (9); a plurality of the mounting plates (9) are fixed by a positioning ring (8); the positioning ring (8) is fixedly connected to the radiation shield (7) by a fixing plate (17); the driven gear (10) is rotatably arranged on the top of the mounting plate (9), and one end of the movable screw rod (11) passes through the driven gear (10) and the mounting plate (9) in sequence, and is threadedly matched with the driven gear (10), and is slidingly matched with the mounting plate (9).

5. The nuclear accident rescue robot according to claim 4, characterized in that: The drive gear assembly comprises: A driving motor (6) is fixedly mounted on the bottom of the mounting plate (9), and an output shaft thereof passes through the mounting plate (9); A driving gear (12) is rotatably arranged on the top of the mounting plate (9) and is fixedly connected to the output shaft of the driving motor (6); the driving gear (12) is meshed with the driven gear (10).

6. The nuclear accident rescue robot according to claim 1, characterized in that: The traction device comprises: Two frame plates (23) are fixedly arranged on the cover edge of the radiation protection cover (7); The winding drum (21) has two ends which are rotatably connected to two frame plates (23) respectively; A winding motor (22) is fixedly arranged on the outside of one of the frame plates (23), and its output shaft is drivingly connected to one end of the winding drum (21); One end of the flexible belt (20) is fixed to the winding drum (21), and after being wound on the winding drum (21), the other end of the flexible belt (20) is fixedly connected to the end of the flexible plate (19).

7. The nuclear accident rescue robot according to claim 1, characterized in that: The flexible plate (19) is a rubber plate.

8. The nuclear accident rescue robot according to claim 1, characterized in that: The mobile lifting bracket comprises: A top frame (13), the bottom of which is fixedly connected to the outer side of the radiation shield (7) via a plurality of connecting rods (3); A multi-jointed arm (2) is carried by a mobile platform; An adjustment block (1) is fixedly arranged on the execution end of the multi-joint arm (2); A moving component is mounted on one side of the adjusting block (1); Two moving blocks (15) are arranged on the moving assembly and driven to move by the moving assembly; A swing assembly is arranged on the moving block (15), and a swing end thereof is connected to the center of the top frame (13).

9. The nuclear accident rescue robot according to claim 8, characterized in that: The mobile assembly comprises: A rotating motor is arranged in the regulating block (1); One end of the adjusting screw (16) is drivingly connected to the output shaft of the rotating motor; one end of the two moving blocks (15) is threadedly matched with the adjusting screw (16).

10. The nuclear accident rescue robot according to claim 9, characterized in that: The swing assembly comprises: A swing arm (14), one end of which is rotationally connected to the two moving blocks (15) via a first short shaft; A first motor is fixedly arranged on the outside of one of the moving blocks (15), and its output shaft is drivingly connected to the first short shaft; Two motor plates are respectively fixedly arranged on the top of the top frame (13); the other end of the swing arm (14) is rotationally connected to the two motor plates via a second short shaft; The second motor is fixedly arranged on the outer side of one of the motor plates, and its output shaft is drivingly connected to the second short shaft.

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