A sample sampling device for detecting a radioactive material storage container

Abstract

The present invention proposes a sample sampling device for detecting radioactive material storage containers, which belongs to the technical field of radioactive sampling. The sample sampling device for detecting radioactive material storage containers comprises a manipulator, the front end of the manipulator is provided with an elastic base, a central tube is rotatably installed in the elastic base, five sampling heads are equidistantly arranged on the circumferential surface of the central tube, and clamps are rotatably installed on both sides of the sampling head. One end of the central tube is connected to a first driving member that drives it to rotate, the inner movable sleeve of the central tube is provided with a cone head thread sleeve, and a lead screw is passed through the inner thread of the cone head thread sleeve. A driving plate that can be displaced along the radial direction of the central tube is slidably arranged in the sampling head, and a transmission member is arranged between the driving plate and the clamp, and the cone head thread sleeve drives the clamps on the five sampling heads in sequence by moving forward to clamp the sampling paper. The present invention improves the detection efficiency of multiple detection areas of nuclear waste barrels by switching multiple sampling heads during paper picking, sampling, detection and paper unloading operations.

Description

Technical Field

[0001] The invention relates to the technical field of radioactive sampling, and in particular to a sample sampling device for detecting a radioactive material storage container. Background Art

[0002] In the radiation detection sampling operation of nuclear waste barrels, the existing technology uses the multi-degree-of-freedom movement of the manipulator to sequentially move the upper sampling head to the side of the paper slot to take paper from the paper slot, move to the side of the nuclear waste barrel to wipe the surface of the nuclear waste barrel for sampling, move to the vicinity of the detection device to detect the sample, and move to the vicinity of the collection barrel to recycle the sampling paper on the sampling head. The entire movement process of the manipulator and the sampling head is controlled by the control system. In the sampling and detection operation, no human participation is required, which can better ensure personnel safety and improve detection accuracy.

[0003] However, the current robot is only equipped with a single sampling head. When sampling and testing multiple areas of a nuclear waste barrel, each area needs to undergo a cycle, resulting in low sampling and testing efficiency and high energy consumption. Summary of the invention

[0004] In order to solve the technical problems of low efficiency and high energy consumption in the prior art when a manipulator carries a single sampling head to sample and detect multiple areas of a nuclear waste barrel separately, the present invention proposes a sample sampling device for detecting radioactive material storage containers with multiple switchable sampling heads, which can realize the function of sampling multiple areas of a nuclear waste barrel at one time.

[0005] The technical solution of the present invention is achieved in this way:

[0006] A sample sampling device for detecting a radioactive material storage container comprises a manipulator, wherein an elastic base is arranged at the front end of the manipulator, a central tube is rotatably mounted in the elastic base, five sampling heads are equidistantly arranged on the circumferential surface of the central tube, clamps are rotatably mounted on both sides of the sampling head, the two clamps are respectively used to clamp at the two ends of the sampling paper, one end of the central tube is connected to a first driving member driving the rotation thereof, an internal movable sleeve of the central tube is provided with a cone head thread sleeve, a lead screw is passed through the inner thread of the cone head thread sleeve, the lead screw is rotatably mounted on the inner wall of the end of the central tube toward one end of the first driving member, and the other end of the lead screw is sequentially A second driving member is connected after passing through the center tube and the elastic base, and the lead screw is eccentrically arranged in the center tube. A driving plate that can be displaced radially along the center tube is slidably arranged in the sampling head, and an inclined surface parallel to the generatrix of the cone head wire sleeve is arranged on the side of the driving plate facing the cone head wire sleeve. Five of the driving plates are flush with one end away from the cone head wire sleeve, and five of the driving plates are distributed equidistantly from the front end of the cone head wire sleeve to the front toward one end of the cone head wire sleeve. A transmission member is arranged between the driving plate and the clamping plate, and the cone head wire sleeve drives the five clamping plates on the sampling head in sequence to clamp the sampling paper by displacing forward.

[0007] Furthermore, an end of the outer side surface of the driving plate away from the cone head thread sleeve is connected to an inner push spring, and the inner push spring is installed in the sampling head.

[0008] Furthermore, the elastic base includes a seat plate, and base plates are connected to both sides of the lower surface of the seat plate through supporting springs, and the two ends of the center tube are rotatably connected to the opposite ends of the two base plates, and the first driving member and the second driving member are respectively installed on the opposite side surfaces of the two base plates, and the end of the center tube facing the second driving member is open, and a core rod is fixedly installed at the center of the inner wall surface of one end of the center tube facing the first driving member, and the core rod is rotatably installed on one of the base plates at one end away from the first driving member.

[0009] Furthermore, both sides of the sampling head are provided with clamping grooves with outer ends inclined inwards, one end of the clamping plate is fixedly connected to a rotating shaft, and both ends of the rotating shaft are rotatably connected to the sampling head, and the transmission member is connected between the rotating shaft and the driving plate.

[0010] Furthermore, the surface of the rotating shaft is equidistantly sleeved with collars, and the inner baffle plate and the outer baffle plate are respectively fixedly installed on the upper and lower ends of the collar close to the sampling head, and the side of the sampling head is respectively provided with an inner groove and an outer groove, and the outer groove is located in the clamping groove, wherein:

[0011] When the clamp is in a clamped state, the clamp is tightly attached to one side of the sampling paper to press the outer baffle plate into the outer groove through the sampling paper, and the inner baffle plate is located outside the inner groove; when the clamp is in an open state, the top end of the clamp presses the inner baffle plate into the inner groove, the outer baffle plate is located outside the outer groove, and the clamp in the clamped state is used to tightly attach to one side of the sampling paper perpendicular to the side of the sampling head.

[0012] Furthermore, the sampling head is divided into a first part and a second part from the outer side of the clamping groove, the first part is connected to the central tube, the second part is slidably arranged on the first part, and there is a micro-motion gap between the inner side surface of the first part and the outer side surface of the second part, and when the clamping plate is in a clamped state, the outer side edge of the clamping plate is parallel to the inner side surface of the second part.

[0013] Furthermore, connecting grooves are provided at both ends of the first part, connecting blocks are fixedly installed at both ends of the second part, the connecting blocks are slidably installed in the connecting grooves, an insert block is fixedly installed on the outer side of the connecting block, a slot is provided on the elastic base, and the distance between the insert block and the slot is smaller than the width of the micro-motion gap.

[0014] Furthermore, an outward push spring is arranged between the first part and the second part, and the outward push spring is compressed when the insert block is inserted into the slot, and a pressing groove for inserting the first part and the clamp is arranged on the inner side surface of the second part.

[0015] Further, the transmission member includes a tooth groove, a first gear, a first rack, a second rack, a second gear, a third gear and a third rack, the tooth groove is opened on the circumferential surface of the rotating shaft, the first gear is rotatably installed in the sampling head, and the first gear is meshed with the tooth groove, the first rack is slidably installed in the sampling head, and the two first gears in the sampling head are respectively meshed with the two sides of the first rack, the second rack is provided with one on both sides of the front side surface of the first rack, the front side surface of the second rack is meshed with the second gear, the second gear is rotatably installed in the sampling head, the two sides of the second gear are fixedly connected with the third gear, the front side of the third gear is meshed with the third rack, and the inner ends of the two third racks are fixedly connected with the rear end of the driving plate.

[0016] Furthermore, the first driving member is a first stepper motor, a power shaft of the first stepper motor is fixedly connected to one end of the central tube, and the second driving member is a second stepper motor, one end of the lead screw is connected to the power shaft of the second stepper motor.

[0017] The present invention has the following beneficial effects:

[0018] 1. By setting up multiple sampling heads and utilizing the position switching between the multiple sampling heads, the paper picking operation of the multiple sampling heads, the wiping sampling operation of the samples in different areas of the nuclear waste barrel by using the multiple sampling heads, the detection operation of the samples on the multiple sampling heads and the unloading operation of the sampling papers on the multiple sampling heads are realized in sequence. Compared with the prior art which relies on a single sampling head for wiping sampling operation and detection operation, the time consumed by the manipulator and the sampling head for adjusting the position and state is shortened, and the efficiency of sampling multiple areas of the nuclear waste barrel is improved.

[0019] 2. By setting the clamping plate and the clamping groove, the stability of the sampling paper is greatly improved during the wiping sampling operation, preventing the sampling paper from deviating or falling off the sampling head, which will affect the sampling accuracy and effect.

[0020] 3. The sampling head includes a first part and a second part, and a micro-gap is formed between the first part and the second part. During the wiping sampling process, the reverse force of the nuclear waste barrel is applied to the second part, so that the sampling paper is further clamped and fixed during the displacement of the second part toward the first part, thereby preventing the sampling paper from shifting or falling off the sampling head, thereby ensuring the sampling accuracy and effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the present invention when the sampling paper is clamped;

[0022] Figure 2 The present invention Figure 1 The overall schematic diagram of the elastic base and sampling head;

[0023] Figure 3 The present invention Figure 2 A in the enlarged view;

[0024] Figure 4 The present invention Figure 2 Schematic diagram of the central tube and sampling head;

[0025] Figure 5 The present invention Figure 4 The enlarged view of point B in the figure;

[0026] Figure 6 The present invention Figure 4 Another perspective of the picture;

[0027] Figure 7 The present invention Figure 6 The enlarged view of point C in the figure;

[0028] Figure 8 The present invention Figure 4 Middle XX section view;

[0029] Fig. 9 The present invention Figure 8 The enlarged view of D in the figure;

[0030] Fig.10 The present invention Figure 8 The enlarged view of point E in the figure;

[0031] Fig.11 is a schematic diagram of the central tube and the first part of the present invention;

[0032] Fig.12 is a schematic diagram of the second part of the present invention;

[0033] Fig.13 It is a schematic diagram of the splint and the rotating shaft of the present invention;

[0034] Fig.14 The present invention Figure 2 The overall schematic diagram of the middle cone head thread sleeve and transmission parts;

[0035] Fig.15 The present invention Fig.14 The enlarged view of F in the figure;

[0036] Fig.16 is a schematic diagram of an elastic base of the present invention;

[0037] Fig.17 The present invention Fig.16 The enlarged view of G in the figure;

[0038] Fig.18 The present invention Fig.16 Another perspective of the picture.

[0039] In the figure: 1, manipulator; 2, elastic base; 2.1, seat plate; 2.2, base plate; 3, central tube; 4, sampling head; 4.1, first part; 4.2, second part; 5, clamping plate; 6, first driving member; 7, cone head thread sleeve; 8, lead screw; 9, second driving member; 10, driving plate; 11, transmission member; 11.1, tooth groove; 11.2, first gear; 11.3, first rack; 11.4, second rack; 11.5, second gear; 11.6, third gear; 11.7, third rack; 12, inner push spring; 13, core rod; 14, clamping groove; 15, rotating shaft; 16, collar; 17, inner baffle plate; 18, outer baffle plate; 19, micro clearance; 20, connecting groove; 21, connecting block; 22, plug block; 23, slot; 24, outer push spring; 25, pressing groove. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] Please refer to Figures 1 to 10 A sample sampling device for detecting a radioactive material storage container comprises a manipulator 1, an elastic base 2 is arranged at the front end of the manipulator 1, a central tube 3 is rotatably mounted in the elastic base 2, five sampling heads 4 are equidistantly arranged on the circumferential surface of the central tube 3, clamps 5 are rotatably mounted on both sides of the sampling head 4, the two clamps 5 are respectively used to clamp at the two ends of the sampling paper, one end of the central tube 3 is connected to a first driving member 6 driving it to rotate, an internal movable sleeve of the central tube 3 is provided with a cone head thread sleeve 7, a lead screw 8 is passed through the inner thread of the cone head thread sleeve 7, the lead screw 8 is rotatably mounted on the inner wall of the end of the central tube 3 toward one end of the first driving member 6, and the other end of the lead screw 8 After passing through the central tube 3 and the elastic base 2 in sequence, a second driving member 9 is connected, and the lead screw 8 is eccentrically arranged in the central tube 3. A driving plate 10 capable of radial displacement along the central tube 3 is slidably arranged in the sampling head 4, and an inclined surface parallel to the generatrix of the cone head wire sleeve 7 is arranged on the side of the driving plate 10 facing the cone head wire sleeve 7. The ends of the five driving plates 10 away from the cone head wire sleeve 7 are flush, and the ends of the five driving plates 10 facing the cone head wire sleeve 7 are equidistantly distributed in sequence from the front end of the cone head wire sleeve 7 to the front. A transmission member 11 is arranged between the driving plate 10 and the clamping plate 5. The cone head wire sleeve 7 drives the clamping plates 5 on the five sampling heads 4 in sequence to clamp the sampling paper by moving forward.

[0042] The manipulator 1 can be used to take sampling paper and place the sampling paper against the barrel wall, barrel top surface and barrel bottom surface of the nuclear waste barrel for wiping sampling operation through multi-degree-of-freedom rotation. The elastic base 2 is used to provide buffering performance for the sampling head 4 and the sampling paper. The first driving member 6 controls the rotation of the central tube 3, so that the sampling head 4 can be switched according to different sampling positions during the wiping sampling operation, and the samples at different positions can be placed directly opposite the detection device for detection during the detection operation. At the same time, the switching of each sampling head 4 can also be realized when taking and removing the sampling paper.

[0043] By controlling the clamping or opening of the clamping plate 5 on the sampling head 4 through the second driving member 9, the sampling paper can be clamped on the sampling head 4 during the paper picking, sampling and detection operations, and the sampling paper can be loosened when the paper is unloaded, so that the sampling paper is separated from the sampling head 4. Specifically, the second driving member 9 controls the forward or reverse rotation of the lead screw 8. Since the lead screw 8 is eccentrically arranged with the central tube 3, the lead screw 8 can drive the cone head thread sleeve 7 to move forward or backward in the central tube 3. When the cone head thread sleeve 7 moves forward, it will squeeze the driving plate 10 in each sampling head 4 outward in turn. During the outward displacement of the driving plate 10, the clamping plate 5 clamps the sampling paper through the transmission member 11. When the cone head thread sleeve 7 moves backward, it will be separated from the driving plate 10 in each sampling head 4 in turn. At this time, the clamping plate 5 loosens the sampling paper, so that the sampling paper falls off the sampling head 4.

[0044] Please refer to Figure 8 and Fig.10 , an inner push spring 12 is connected to one end of the outer side of the driving plate 10 away from the cone head wire sleeve 7, and the inner push spring 12 is installed in the sampling head 4, and the inner push spring 12 is used to provide elastic force for the inner end of the driving plate 10 to extend into the central tube 3. When the cone head wire sleeve 7 moves backward and disengages from the driving plate 10, the compressed inner push spring 12 will drive the driving plate 10 inward, and at this time, the transmission member 11 will cause the clamping plate 5 to release the sampling paper and return to the open state.

[0045] Please refer to Figures 16 to 18 The elastic base 2 includes a base plate 2.1, and the base plates 2.2 are connected to the lower surfaces of the base plate 2.1 through support springs. The two ends of the central tube 3 are rotatably connected to the opposite ends of the two base plates 2.2. The first driving member 6 and the second driving member 9 are respectively installed on the opposite side of the two base plates 2.2. Please refer to Figure 8 , Fig.10 and Fig.11 The end of the center tube 3 facing the second driving member 9 is open, and a core rod 13 is fixedly installed at the center of the inner wall surface of the end of the center tube 3 facing the first driving member 6. The end of the core rod 13 away from the first driving member 6 is rotatably installed on one of the base plates 2.2. The core rod 13 further improves the stability of the center tube 3 and further limits the position of the cone head wire sleeve 7 in the circumferential direction. The two base plates 2.2 support the center tube 3, and the center tube 3 rotates between the two base plates 2.2.

[0046] Please refer to Figure 3, both sides of the sampling head 4 are provided with a clamping groove 14 with the outer end tilted inward, one end of the clamping plate 5 is fixedly connected with a rotating shaft 15, and both ends of the rotating shaft 15 are rotatably connected to the sampling head 4, and the transmission member 11 is connected between the rotating shaft 15 and the driving plate 10. By providing the clamping groove 14 to match the clamping plate 5, when the clamping plate 5 clamps the sampling paper in the clamping groove 14, the end of the sampling paper forms a "Z"-shaped bend, at this time, the clamping effect and stability of the sampling paper can be improved, and during the wiping sampling operation, the sampling paper is prevented from being displaced by friction, thereby improving the sampling effect.

[0047] Please refer to Fig.13 The surface of the rotating shaft 15 is equidistantly sleeved with a collar 16, and the upper and lower ends of the collar 16 are respectively fixedly mounted with an inner baffle 17 and an outer baffle 18 on one side close to the sampling head 4, and the side of the sampling head 4 is respectively provided with an inner groove and an outer groove, and the outer groove is located in the clamping groove 14, wherein:

[0048] When the clamping plate 5 is in a clamped state, the clamping plate 5 is tightly attached to one side of the sampling paper and presses the outer baffle 18 into the outer groove through the sampling paper, and the inner baffle 17 is located outside the inner groove; when the clamping plate 5 is in an open state, the top end of the clamping plate 5 presses the inner baffle 17 into the inner groove, the outer baffle 18 is located outside the outer groove, and the clamping plate 5 is used to tightly attach to one side of the sampling paper perpendicular to the side of the sampling head 4 in the clamped state.

[0049] When the clamp 5 clamps the sampling paper, the clamp 5 rotates into the clamping groove 14 and squeezes the outer baffle 18 into the outer groove of the paper by squeezing the sampling paper. At this time, the side of the outer baffle 18 opposite to the clamp 5 is flush with the inner side of the clamping groove 14. When the clamp 5 is opened, the clamp 5 squeezes the inner baffle 17 into the inner groove, and the inner baffle 17 drives the outer baffle 18 to swing out of the outer groove through the collar 16. At this time, the outer baffle 18 pushes the end of the sampling paper out of the clamping groove 14, and makes the sampling paper completely separated from the sampling head 4, improving the paper unloading effect.

[0050] Please refer to Figures 2 to 7 The sampling head 4 is divided into a first part 4.1 and a second part 4.2 from the outer side of the clamping groove 14. The first part 4.1 is connected to the central tube 3, and the second part 4.2 is slidably arranged on the first part 4.1, and there is a micro-motion gap 19 between the inner side surface of the first part 4.1 and the outer side surface of the second part 4.2. When the clamping plate 5 is in a clamped state, the outer side edge of the clamping plate 5 is parallel to the inner side surface of the second part 4.2.

[0051] During the wiping sampling operation, the sampling paper abuts against the nuclear waste barrel. At this time, the second part 4.2 is displaced toward the first part 4.1 by the reverse force of the nuclear waste barrel, and the micro-motion gap 19 becomes smaller and smaller. During this process, the inner side surface of the second part 4.2 cooperates with the outer edge of the clamping plate 5 to further clamp and fix the sampling paper, thereby improving the stability of the sampling paper and further ensuring the sampling effect.

[0052] Please refer to Figure 7 , Fig.11 , Fig.12 , Fig.16 and Fig.17 Both ends of the first part 4.1 are provided with connecting grooves 20, and both ends of the second part 4.2 are fixedly installed with connecting blocks 21, the connecting block 21 is slidably installed in the connecting groove 20, and the outer side of the connecting block 21 is fixedly installed with an insert block 22, and the elastic base 2 is provided with a slot 23, and the distance between the insert block 22 and the slot 23 is less than the width of the micro-motion gap 19.

[0053] When the second part 4.2 is pressed against the barrel wall and approaches the first part 4.1, the connecting block 21 moves inward in the connecting groove 20, so that the insert block 22 is inserted into the slot 23. At this time, the insert block 22 cooperates with the slot 23 to enable the elastic base 2 to limit the center tube 3 in the circumferential direction to prevent the center tube 3 from rotating, thereby improving the contact effect and stability between the sampling paper and the barrel wall, further ensuring the sampling accuracy, and at the same time, reducing the stress interference on the first driving member 6 caused by friction, thereby improving the service life of the first driving member 6.

[0054] Please refer to Figures 7 to 9 An outward push spring 24 is arranged between the first part 4.1 and the second part 4.2, and the outward push spring 24 is compressed when the insert block 22 is inserted into the slot 23, and a pressing groove 25 for inserting the first part 4.1 and the clamping plate 5 is arranged on the inner side of the second part 4.2. The outward push spring 24 makes the second part 4.2 be away from the first part 4.1 in the initial state.

[0055] In addition, in the process of the second part 4.2 approaching the first part 4.1, the portion of the sampling paper corresponding to the micro-motion gap 19 is a redundant portion, which makes the sampling paper slightly loose as a whole. The redundant portion of the sampling paper is just used for the bending of the sampling paper when the clamping plate 5 and the first part 4.1 enter the pressing groove 25, so that after the micro-motion gap 19 disappears, the plug block 22 is inserted into the slot 23. On the one hand, the clamping plate 5 cooperates with the pressing groove 25 to clamp the sampling paper, and on the other hand, the clamping plate 5 cooperates with the clamping groove 14 to clamp the sampling paper, which further improves the stability of the sampling paper and fully guarantees the sampling effect.

[0056] Please refer to Figures 5 to 9 , Fig.14 and Fig.15 The transmission member 11 includes a tooth groove 11.1, a first gear 11.2, a first rack 11.3, a second rack 11.4, a second gear 11.5, a third gear 11.6 and a third rack 11.7. The tooth groove 11.1 is provided on the circumferential surface of the rotating shaft 15. The first gear 11.2 is rotatably mounted in the sampling head 4, and the first gear 11.2 is meshed with the tooth groove 11.1. The first rack 11.3 is slidably mounted in the sampling head 4, and the two first gears 11.2 in the sampling head 4 are respectively The first rack 11.3 is meshed on both sides, and a second rack 11.4 is provided on both sides of the front side of the first rack 11.3. The front side of the second rack 11.4 is meshed with a second gear 11.5, and the second gear 11.5 is rotatably installed in the sampling head 4. The second gear 11.5 is fixedly connected to the third gear 11.6 on both sides, and the front side of the third gear 11.6 is meshed with a third rack 11.7, and the inner ends of the two third racks 11.7 are fixedly connected to the rear end of the driving plate 10.

[0057] During the outward displacement of the driving plate 10, the two third racks 11.7 are pushed outward, the two third racks 11.7 drive the two third gears 11.6 to rotate, and the two third gears 11.6 simultaneously drive the second gear 11.5 to rotate, the second gear 11.5 causes the second rack 11.4 to displace outward, and the second rack 11.4 drives the first rack 11.3 to displace outward, at this time, the first rack 11.3 drives the rotating shaft 15 to rotate through the first gear 11.2 and the tooth groove 11.1, and the rotating shaft 15 drives the clamping plate 5 to clamp the sampling paper.

[0058] The first driving member 6 is a first stepping motor, and the power shaft of the first stepping motor is fixedly connected to one end of the central tube 3. The second driving member 9 is a second stepping motor, and one end of the lead screw 8 is connected to the power shaft of the second stepping motor.

[0059] The specific workflow is as follows:

[0060] 1. Paper picking operation:

[0061] ① In the initial state, the cone head wire sleeve 7 is located at the rear end of the central tube 3. At this time, all the clamps 5 in the sampling heads 4 are in the open state, and the inner ends of all the driving plates 10 extend into the central tube 3, so that the inclined surface of the driving plate 10 faces the conical surface of the cone head wire sleeve 7.

[0062] ② During the paper picking operation, the five sampling heads 4 are marked as 1 in order according to the distance between the inclined surface of the five driving plates 10 and the cone head thread sleeve 7 from small to large. # Sampling head 4, 2 # Sampling head 4, 3 # Sampling head 4, 4 # Sampling heads 4 and 5 # Sampling head 4, and follow 1# Sampling head 4, 2 # Sampling head 4, 3 # Sampling head 4, 4 # Sampling heads 4 and 5 # The sampling head 4 performs the paper picking operation in sequence.

[0063] ③Robot 1 will 1 # When the sampling head 4 is inserted into the paper slot, the sampling paper on the slot opening is pressed into the slot and the sampling paper is closely attached to the paper slot. # Sampling head 4 surface.

[0064] ④ The second driving member 9 drives the lead screw 8 to rotate, and the lead screw 8 drives the cone head thread sleeve 7 to move forward in the center tube 3 and move 1 # The driving plate 10 in the sampling head 4 is pushed outward, and the driving plate 10 causes the clamping plate 5 to clamp the sampling paper 1 through the transmission member 11. # Sampling head 4 surface.

[0065] ⑤Robot 1 will 1 # The sampling head 4 is pulled out from the paper slot, and the first driving member 6 drives the central tube 3 to rotate, so that the central tube 3 makes the 2 # Sampling head 4 moves to 1 # The position of sampling head 4 is realized, and then the robot 1 drives 2 # Sampling head 4 is inserted into the paper slot to achieve 2 # The paper picking operation of the sampling head 4 is realized in the same way as above. # Sampling head 4, 2 # Sampling head 4, 3 # Sampling head 4, 4 # Sampling heads 4 and 5 # The paper picking operation of the sampling head 4.

[0066] 2. Wipe sampling operation:

[0067] ① For ease of understanding, the three segmented areas of the barrel top, barrel bottom and barrel wall are marked as 1 # Sampling area, 2 # Sampling area, 3 # Sampling area, 4 # Sampling area and 5 # In the sampling area, the robot 1 moves all the sampling heads 4 that have completed the paper picking operation closer to the nuclear waste barrel, so that 5 # The sampling head 4 is abutted against 1 # The surface of the sampling area is completed during the rotation of the nuclear waste barrel. # Wipe sampling operation in the sampling area.

[0068] ②1 # After the sampling area wiping sampling operation is completed, the first driving member 6 causes 4# Sampling head 4 moves to 5 # The position of the sampling head 4, and the manipulator 1 makes 4 # The sampling head 4 abuts against 2 # The surface of the sampling area, and so on, to achieve 5 # Sampling head 4, 4 # Sampling head 4, 3 # Sampling head 4, 2 # Sampling heads 4 and 1 # Sampling head 4 to 1 # Sampling area, 2 # Sampling area, 3 # Sampling area, 4 # Sampling area and 5 # Wipe sampling operation in the sampling area.

[0069] 3. Inspection work:

[0070] The robot 1 moves all the sampling heads 4 to the vicinity of the detection device, first # The sampling head 4 is facing the detection device, and the detection device is used to realize 1 # The sampling head 4 collects samples for testing, and then the central tube 3 is driven to rotate by the first driving member 6 to # Sampling head 4 is facing the scanning area, and so on, to achieve 1 # Sampling head 4, 2 # Sampling head 4, 3 # Sampling head 4, 4 # Sampling heads 4 and 5 # The samples on the sampling head 4 are detected separately.

[0071] 4. Paper unloading operation:

[0072] ① The robot 1 moves all the sampling heads 4 to the top of the collection bucket, first # The sampling head 4 faces the barrel opening of the collection barrel, and the second driving member 9 drives the lead screw 8 to rotate, and the lead screw 8 drives the cone head thread sleeve 7 to move backward, and the cone head thread sleeve 7 leaves 5. # At the same time, the driving plate 10 in the sampling head 4 is pushed inward by the elastic force of the inner push spring 12. At this time, the driving plate 10 opens the clamping plate 5 through the transmission member 11, and the clamping plate 5 releases the sampling paper. In the process of the clamping plate 5 opening, the outer baffle 18 pushes the end of the sampling paper away from the sampling head 4, and the sampling paper is pushed out from the 5. # The sampling head 4 is detached and falls into the collection bucket.

[0073] ② The first driving member 6 controls the central tube 3 to rotate, 4 # Sampling head 4 moves to 5 # The sampling head 4 is positioned to face the barrel opening of the collection barrel, and the second driving member 9 rotates again, so that 4# The clamping plate 5 on the sampling head 4 is opened and the sampling paper is separated, and so on, the 5 # Sampling head 4, 4 # Sampling head 4, 3 # Sampling head 4, 2 # Sampling heads 4 and 1 # Paper unloading operation of sampling head 4.

[0074] After the paper is unloaded, the detection operation of all the areas to be detected in a nuclear waste barrel is completed, and the sampling head 4 is restored to the initial state.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A sample sampling device for detecting a radioactive material storage container, characterized in that: The invention comprises a manipulator (1), wherein the front end of the manipulator (1) is provided with an elastic base (2), a central tube (3) is rotatably mounted inside the elastic base (2), five sampling heads (4) are equidistantly arranged on the circumferential surface of the central tube (3), clamps (5) are rotatably mounted on both sides of the sampling head (4), the two clamps (5) are respectively used to clamp at the two ends of the sampling paper, one end of the central tube (3) is connected to a first driving member (6) for driving the central tube (3) to rotate, an internal movable sleeve of the central tube (3) is provided with a cone head thread sleeve (7), a lead screw (8) is passed through the inner thread of the cone head thread sleeve (7), the lead screw (8) is rotatably mounted on the inner wall of the end of the central tube (3) toward one end of the first driving member (6), and the other end of the lead screw (8) passes through the central tube (3) and the elastic base ( 2) is connected to a second driving member (9) at the rear, and the lead screw (8) is eccentrically arranged in the central tube (3), a driving plate (10) capable of radial displacement along the central tube (3) is slidably arranged in the sampling head (4), and an end of the driving plate (10) facing the cone head thread sleeve (7) is provided with an inclined surface parallel to the generatrix of the cone head thread sleeve (7), five ends of the driving plates (10) away from the cone head thread sleeve (7) are flush, and the ends of the five driving plates (10) facing the cone head thread sleeve (7) are distributed equidistantly from the front end of the cone head thread sleeve (7) forward in sequence, a transmission member (11) is arranged between the driving plate (10) and the clamping plate (5), and the cone head thread sleeve (7) sequentially drives the clamping plates (5) on the five sampling heads (4) to clamp the sampling paper by displacing forward; An end of the outer side surface of the driving plate (10) away from the cone head thread sleeve (7) is connected to an inner push spring (12), and the inner push spring (12) is installed in the sampling head (4); Both sides of the sampling head (4) are provided with clamping grooves (14) with outer ends inclined inwards, one end of the clamping plate (5) is fixedly connected to a rotating shaft (15), and both ends of the rotating shaft (15) are rotatably connected to the sampling head (4), and the transmission member (11) is connected between the rotating shaft (15) and the driving plate (10); The transmission member (11) comprises a tooth groove (11.1), a first gear (11.2), a first rack (11.3), a second rack (11.4), a second gear (11.5), a third gear (11.6) and a third rack (11.7); the tooth groove (11.1) is provided on the circumferential surface of the rotating shaft (15); the first gear (11.2) is rotatably mounted in the sampling head (4), and the first gear (11.2) is meshed with the tooth groove (11.1); the first rack (11.3) is slidably mounted in the sampling head (4), and the two first gears (11.2) in the sampling head (4) are respectively Different from the meshing of the first rack (11.3) on both sides, the second rack (11.4) is provided on both sides of the front side of the first rack (11.3); the front side of the second rack (11.4) is meshed with a second gear (11.5); the second gear (11.5) is rotatably mounted in the sampling head (4); both sides of the second gear (11.5) are fixedly connected to a third gear (11.6); the front side of the third gear (11.6) is meshed with a third rack (11.7); and the inner ends of the two third racks (11.7) are fixedly connected to the rear end of the driving plate (10).

2. A sample sampling device for detecting a radioactive material storage container according to claim 1, characterized in that: The elastic base (2) comprises a seat plate (2.1), the lower surface of which is connected to base plates (2.2) on both sides via support springs, the two ends of the central tube (3) being rotatably connected to the opposite ends of the two base plates (2.2), the first driving member (6) and the second driving member (9) being respectively mounted on opposite sides of the two base plates (2.2), the end of the central tube (3) facing the second driving member (9) being open, the center of the inner wall of the end of the central tube (3) facing the first driving member (6) being fixedly mounted with a core rod (13), the end of the core rod (13) being rotatably mounted on one of the base plates (2.2) away from the first driving member (6).

3. A sample sampling device for detecting a radioactive material storage container according to claim 1, characterized in that: The surface of the rotating shaft (15) is sleeved with collars (16) at equal intervals, and an inner baffle (17) and an outer baffle (18) are respectively fixedly mounted on the upper and lower ends of the collar (16) on one side close to the sampling head (4), and an inner groove and an outer groove are respectively formed on the side of the sampling head (4), and the outer groove is located in the clamping groove (14), wherein: When the clamping plate (5) is in a clamped state, the clamping plate (5) is pressed against one side of the sampling paper to press the outer baffle (18) into the outer groove through the sampling paper, and the inner baffle (17) is located outside the inner groove; when the clamping plate (5) is in an open state, the top end of the clamping plate (5) presses the inner baffle (17) into the inner groove, the outer baffle (18) is located outside the outer groove, and the clamping plate (5) is used to press against one side of the sampling paper in the clamped state perpendicular to the side of the sampling head (4).

4. A sample sampling device for detecting a radioactive material storage container according to claim 3, characterized in that: The sampling head (4) is divided into a first part (4.1) and a second part (4.2) from the outer side of the clamping groove (14); the first part (4.1) is connected to the central tube (3); the second part (4.2) is slidably arranged on the first part (4.1); and a micro-motion gap (19) is provided between the inner side surface of the first part (4.1) and the outer side surface of the second part (4.2); when the clamping plate (5) is in a clamped state, the outer side edge of the clamping plate (5) is parallel to the inner side surface of the second part (4.2).

5. A sample sampling device for detecting a radioactive material storage container according to claim 4, characterized in that: Both ends of the first part (4.1) are provided with connection grooves (20), both ends of the second part (4.2) are fixedly mounted with connection blocks (21), the connection blocks (21) are slidably mounted in the connection grooves (20), an insert block (22) is fixedly mounted on the outer side surface of the connection block (21), a slot (23) is provided on the elastic base (2), and the distance between the insert block (22) and the slot (23) is smaller than the width of the micro-motion gap (19).

6. A sample sampling device for detecting a radioactive material storage container according to claim 5, characterized in that: An outward push spring (24) is provided between the first part (4.1) and the second part (4.2), and the outward push spring (24) is compressed when the insert block (22) is inserted into the slot (23), and a pressing groove (25) for inserting the first part (4.1) and the clamping plate (5) is provided on the inner side surface of the second part (4.2).

7. A sample sampling device for detecting a radioactive material storage container according to claim 1, characterized in that: The first driving member (6) is a first stepper motor, the power shaft of the first stepper motor is fixedly connected to one end of the central tube (3), and the second driving member (9) is a second stepper motor, one end of the lead screw (8) is connected to the power shaft of the second stepper motor.

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