Inspection robot used in radiation environment and intelligent inspection method

Abstract

The invention belongs to the technical field of medium leakage inspection, and aims to solve the problem that traditional inspection equipment cannot adapt to different types of complex working conditions due to fixed functions. The invention discloses an inspection robot used in a radiation environment and an intelligent inspection method.The robot comprises a rack, a cantilever manipulator and a connecting mechanism, the rack is provided with a mounting plate, the mounting plate is provided with a mounting base, and the mounting base is provided with a guide base and is matched with the guide base to form a guide rail used for guiding a base to slide; the connecting seat is arranged at the end of the cantilever manipulator, the base is mounted at the bottom of the connecting seat, when the cantilever manipulator is mounted, the rack is moved to slide the base into the guide rail, the base is connected with the guide seat through the connecting mechanism, the function of quickly disassembling and assembling the cantilever manipulator is achieved, and the effect of treating different working conditions is achieved by replacing different types of cantilever manipulators.

Description

Technical Field

[0001] The present application belongs to the technical field of medium leakage inspection, and in particular, relates to an inspection robot and an intelligent inspection method for use in a radiation environment. Background Art

[0002] At present, when equipment involved in radioactive environments in nuclear fuel reprocessing plants, nuclear power plants, isotope production facilities, radioactive waste treatment and disposal facilities, large hot cells for research, and fusion research devices fail or operate abnormally, the equipment can only be repaired on site because it is expensive and cannot be replaced. At this time, maintenance personnel are required to wear lead suits for maintenance and inspection to determine whether there are any abnormal conditions. Even cleaning and decontamination during the maintenance of radioactive environment equipment cannot change the radioactive environment, and lead suits are bulky and not easy for maintenance or inspection personnel to move.

[0003] To this end, Chinese patent CN113129471A discloses an automatic inspection device and inspection method for remote monitoring of medium leakage, which integrates robot technology, unmanned driving technology, remote multi-parameter telemetry fusion technology, medium leakage image recognition technology, industrial Internet of Things technology and remote maintenance technology, so that these technologies are integrated with each other to achieve automatic inspection.

[0004] However, due to the complexity of the working environment and maintenance conditions of nuclear power plants, the existing commonly used inspection equipment has a single working capability and can usually only inspect the working conditions but cannot perform maintenance according to specific conditions. In addition, the existing inspection equipment is limited in size and cannot adapt to the excessive work content of nuclear power plants. Therefore, when abnormal working conditions are detected, nuclear power plant operators are still required to perform maintenance actions, which is inconvenient to use. Summary of the invention

[0005] The purpose of the present application is to provide an inspection robot and an intelligent inspection method for use in radiation environments, which solves the problem that the functions of traditional inspection equipment are fixed and cannot adapt to different types of complex working conditions by setting up a frame, a cantilever manipulator and a connecting mechanism.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] In the first aspect, the present application provides a patrol robot for use in a radiation environment, comprising a frame, a cantilever manipulator and a connecting mechanism, wherein the frame has a mounting plate, a mounting seat is provided on the mounting plate, a guide seat is installed on the mounting seat and cooperates to form a guide rail for guiding the sliding of the base; a connecting seat is provided at the end of the cantilever manipulator, and the base is installed at the bottom of the connecting seat. When installing the cantilever manipulator, the frame is moved to slide the base into the guide rail, and the base is connected to the guide seat via the connecting mechanism.

[0008] In some embodiments, the connecting mechanism includes a snap-on assembly, and a first shielding cover for shielding radiation is slidably mounted on the guide seat. During the installation of the cantilever manipulator, the base pushes the first shielding cover, and the base is snap-connected to the guide seat through the snap-on assembly.

[0009] In some embodiments, the snap-on assembly includes a first support, a card block, a third elastic member and a second support, the first support is mounted on the base, the card block is connected to the base via the third elastic member, the two ends of the third elastic member are respectively connected to the card block and the base, the second support is arranged on the guide seat, and the second support is provided with a card slot that cooperates with the card block.

[0010] In some embodiments, a linear drive is mounted on the second support, and a push block for pushing the card block into the card slot is mounted on the driving end of the linear drive.

[0011] In some embodiments, an abutment block and an extension block are provided on the first shielding cover, the extension block is slidably matched with the inner wall of the guide seat, a first elastic member is provided on the extension block, and two ends of the first elastic member are respectively connected to the extension block and the guide seat, and when the base slides along the guide rail, the base contacts the abutment block and pushes the abutment block and the first shielding cover to move synchronously.

[0012] In some embodiments, a bracket is provided on the mounting plate, and three groups of cameras are provided on the bracket, and the shooting directions of the three groups of cameras are arranged in a triangle.

[0013] In some embodiments, a bolt is movably provided on the base, a threaded hole cooperating with the bolt is opened on the mounting seat, a second shielding cover for covering the threaded hole is slidably installed on the mounting seat, and a rotating drive assembly for driving the bolt to rotate is provided on the connecting seat.

[0014] In some embodiments, the drive assembly includes a rotary driver, a gear ring, a rotating shaft, a rotating gear and two meshing bevel gears, the rotary driver is mounted on the connecting seat, the gear ring is sleeved on the bolt, the rotating shaft is rotatably mounted on the connecting seat, the rotating gear is sleeved on the rotating shaft, the rotating gear is meshedly connected with the gear ring, and the two bevel gears are respectively sleeved on the rotating shaft and the driving end of the rotary driver.

[0015] In some embodiments, a moving component for driving the device to move is provided at the bottom of the frame, and the moving component has a main track wheel installed at the bottom of the frame, and an auxiliary track wheel is provided at the front and rear ends of the main track wheel respectively.

[0016] In a second aspect, the present application provides an intelligent inspection method for use in a radiation environment, using the inspection robot for use in a radiation environment, comprising the following steps:

[0017] S1, controlling the movement of the rack through the mobile component to perform inspection work;

[0018] S2. Determine the working condition and install the corresponding type of cantilever manipulator according to the working condition;

[0019] S3. Perform maintenance work according to actual working conditions.

[0020] Compared with the prior art, the inspection robot and intelligent inspection method for use in a radiation environment provided by the present application have the following beneficial effects:

[0021] The present application realizes the function of quickly disassembling and assembling the cantilever manipulator through a frame, a cantilever manipulator and a connecting mechanism, and achieves the effect of handling different working conditions by replacing different types of cantilever manipulators, thereby overcoming the defect that traditional inspection equipment has fixed functions and cannot adapt to different types of complex working conditions.

[0022] Furthermore, the present application realizes quick connection between the base and the guide seat through the snap-on assembly and the first shielding cover while avoiding radiation damage to the internal structure of the frame, thereby achieving the effect of always separating the internal space and the external space of the frame during the installation of the cantilever manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for the technical description.

[0024] Figure 1 A three-dimensional schematic diagram of an inspection robot for use in a radiation environment provided in this application;

[0025] Figure 2 A three-dimensional schematic diagram of the mounting base and cantilever manipulator provided in this application;

[0026] Figure 3 A three-dimensional exploded schematic diagram of the connecting seat, base and mounting seat provided in this application;

[0027] Figure 4 A three-dimensional schematic diagram of the mounting base and the guide base provided in the present application when the cantilever manipulator is not installed;

[0028] Figure 5 A three-dimensional schematic diagram of the connecting socket and the base provided in this application;

[0029] Figure 6 A three-dimensional schematic diagram of the internal structure of the connecting socket provided in this application;

[0030] Figure 7A three-dimensional schematic diagram of the internal structure of the guide seat provided in this application;

[0031] Figure 8 A three-dimensional exploded schematic diagram of the base provided for this application;

[0032] Fig. 9 A three-dimensional schematic diagram of the rotary drive assembly and bolt provided for the present application;

[0033] Fig.10 A three-dimensional schematic diagram of the rack and mobile components provided for this application;

[0034] Fig.11 This is a flow chart of the intelligent inspection method for radiation environment provided in this application.

[0035] Description of reference numerals:

[0036] 1-frame; 11-mounting plate; 111-bracket; 1111-camera; 112-distance sensor; 12-mounting seat; 121-guide seat; 122-first shielding cover; 1221-abutment block; 1222-extension block; 1223-first elastic member; 123-second shielding cover; 1231-push bar; 1232-second elastic member; 13-moving assembly; 131-main track wheel; 132-auxiliary track wheel; 2-cantilever manipulator; 21 -connecting seat; 22-base; 221-bolt; 222-washer; 223-mounting ring; 3-connecting mechanism; 31-clamping assembly; 311-first support; 312-clamping block; 313-third elastic member; 314-second support; 315-clamping groove; 32-rotational drive assembly; 321-rotational drive; 322-toothed ring; 323-rotating shaft; 324-rotational gear; 325-bevel gear; 33-linear drive; 331-push block. DETAILED DESCRIPTION

[0037] The following is further explained in detail through specific implementation methods.

[0038] like Figures 1 to 10 As shown, the present application provides an inspection robot for use in a radiation environment, comprising a frame 1, a cantilever manipulator 2, and a connecting mechanism 3. The inspection robot realizes the function of quickly disassembling and assembling the cantilever manipulator 2 through the frame 1, the cantilever manipulator 2, and the connecting mechanism 3, and achieves the effect of handling different working conditions by replacing different types of cantilever manipulators 2.

[0039] like Figures 1 to 3As shown, a mounting plate 11 is provided on the frame 1, a mounting seat 12 is provided on the mounting plate 11, a guide seat 121 is installed on the mounting seat 12, and the guide seat 121 and the mounting seat 12 cooperate to form a guide rail for guiding the sliding of the base 22. A connecting seat 21 is provided at the end of the cantilever manipulator 2, a base 22 is provided on the connecting seat 21, and a moving component 13 for driving the device to move is provided at the bottom of the frame 1; when the cantilever manipulator 2 is installed, the frame 1 is controlled to move by the moving component 13, the base 22 is slid into the guide rail, and the base 22 is connected to the guide seat 121 through the connecting mechanism 3.

[0040] The mounting plate 11 is provided with a bracket 111, on which a radiation detector and three groups of cameras 1111 are provided, and the shooting directions of the three groups of cameras 1111 are arranged in a triangular shape, and the radiation detector is preferably a semiconductor detector, and the radiation detector is arranged at the outer edge of the mounting plate 11. During the inspection process, the image analysis working condition is fed back through the camera 1111. When an abnormal working condition occurs, the inspection robot moves to the required cantilever manipulator 2 through the moving component 13, and aligns the base 22 of the cantilever manipulator 2 with the guide rail on the mounting seat 12, and then continues to approach the cantilever manipulator 2, so that the base 22 on the cantilever manipulator 2 slides along the guide seat 121, and then connects the base 22 and the guide seat 121 through the connecting mechanism 3, and then installs the cantilever manipulator 2 on the mounting seat 12. By placing various cantilever manipulators 2 on the mounting frame, the effect of remotely replacing the cantilever manipulator 2 can be achieved through the movement of the moving component 13.

[0041] Preferably, the mounting plate 11 is in a disc shape, and a distance sensor 112 is provided on the side of the mounting plate 11. The present application realizes the function of improving the obstacle avoidance capability of the equipment through the disc-shaped mounting plate 11 and the distance sensor 112. At least three distance sensors 112 are provided, and the multiple distance sensors 112 are distributed in a circular array about the axis of the mounting plate 11. The distance sensors 112 distributed in different directions can quickly determine the position of obstacles, thereby enabling the inspection robot equipment to stably complete inspection and maintenance work in a narrow space or an environment with many obstacles.

[0042] like Figures 3 to 5 As shown, the connecting mechanism 3 includes a snap-on assembly 31 , and a first shielding cover 122 for shielding radiation is slidably mounted on the guide seat 121 . During the installation of the cantilever manipulator 2 , the base 22 pushes the first shielding cover 122 , and the base 22 is snap-connected with the guide seat 121 through the snap-on assembly 31 .

[0043] The present application realizes the quick connection between the base 22 and the guide base 121 through the snap-on assembly 31 and the first shielding cover 122 while avoiding radiation damage to the internal structure of the frame 1, thereby achieving the effect of always separating the internal space and the external space of the frame 1 during the installation process of the cantilever manipulator 2.

[0044] The first shielding cover 122 is preferably made of metal materials such as aluminum and copper, because radiation particles such as α, β, γ rays and electromagnetic pulses may directly bombard electronic devices.

[0045] A first shielding cover 122 is arranged on the guide seat 121. During the installation process, the base 22 pushes the first shielding cover 122. At the same time, the base 22 and the guide seat 121 are closely matched. With the cooperation of the first shielding cover 122 and the base 22, the gap between the guide seat 121 and the base 22 is completely blocked to prevent radiation from affecting the electrical components on the mounting seat 12.

[0046] like Figure 5 and Figure 6 As shown, a bolt 221 is movably provided on the base 22, a threaded hole matching with the bolt 221 is opened on the mounting seat 12, a second shielding cover 123 for covering the threaded hole is slidably installed on the mounting seat 12, and a rotating driving assembly 32 for driving the bolt 221 to rotate is provided on the connecting seat 21.

[0047] The present application realizes the function of stably connecting the connecting seat 21 and the base 22 with the mounting seat 12 through the second shielding cover 123 , the bolts 221 and the rotation driving assembly 32 .

[0048] The frame 1 is provided with a controller for human-machine interaction, and the rotation drive assembly 32 is electrically connected to the controller; a washer 222 (such as Fig. 9 When installing the cantilever manipulator 2, the moving assembly 13 is used to move to the desired cantilever manipulator 2, and the base 22 of the cantilever manipulator 2 is aligned with the guide rail on the mounting seat 12, and then the cantilever manipulator 2 is moved closer to the cantilever manipulator 2, so that the base 22 on the cantilever manipulator 2 slides along the guide seat 121, and then the base 22 is fixed to the guide seat 121 by the clamping assembly 31, at this time, the axis of the bolt 221 is in line with the axis of the bolt 221 hole, and then the controller sends a signal to the rotation drive assembly 32, and the rotation drive assembly 32 drives the bolt 221 to rotate, so that the bolt 221 is threadedly connected with the threaded hole, and the connection seat 21 and the base 22 are pressed onto the mounting seat 12 by the washer 222 on the bolt 221, and the installation of the cantilever manipulator 2 is completed.

[0049] like Figure 7 As shown, the first shielding cover 122 is provided with an abutment block 1221 and an extension block 1222, the extension block 1222 is slidably matched with the inner wall of the guide seat 121, and the extension block 1222 is provided with a first elastic member 1223, and the two ends of the first elastic member 1223 are respectively connected to the extension block 1222 and the guide seat 121, when the base 22 slides along the guide rail, the base 22 contacts the abutment block 1221 and pushes the abutment block 1221 and the first shielding cover 122 to move synchronously.

[0050] The present application realizes the function of keeping the first shielding cover 122 and the base 22 in close cooperation during the installation process of the cantilever manipulator 2 through the abutment block 1221, the extension block 1222 and the first elastic member 1223. During the installation process of the cantilever manipulator 2, the first shielding cover 122 cooperates with the base 22 to prevent radiation from damaging the internal structure of the guide base 121. Since the first shielding cover 122 is slidably installed on the guide base 121, in order to prevent the first shielding cover 122 from being separated from the base 22 under the push of the base 22 and forming a gap between the first shielding cover 122 and the base 22, a first elastic member 1223 is provided. Through the elastic force of the first elastic member 1223, the extension block 1222 and the first shielding cover 122 are pushed, so that the abutment block 1221 on the first shielding cover 122 is always in contact with the base 22. During the disassembly of the cantilever manipulator 2 , the first shielding cover 122 automatically resets under the elastic force of the first elastic member 1223 , always maintaining the sealing of the mounting seat 12 and protecting the electrical components inside the mounting seat 12 and the guide seat 121 .

[0051] like Figure 4 As shown, a raised push bar 1231 is provided on the second shielding cover 123, and a second elastic member 1232 is provided on the mounting base 12. The second elastic member 1232 is connected to the push bar 1231. After the base 22 slides into the guide rail, when the base 22 contacts the push bar 1231, the push bar 1231 and the second shielding cover 123 are pushed to slide.

[0052] The present application realizes the function of controlling the movement of the second shielding cover 123 through the push bar 1231 and the second elastic member 1232. In order to prevent radiation from damaging the electrical components at the bottom of the mounting seat 12 through the threaded hole, the second shielding cover 123 is provided. During the installation of the cantilever manipulator 2, the base 22 contacts the push bar 1231 and overcomes the elastic force of the second elastic member 1232 to push the push bar 1231, so that the push bar 1231 and the second shielding cover 123 move. When the clamping assembly 31 is clamped with the guide seat 121, the threaded hole is aligned with the bolt 221, and the second shielding cover 123 is pushed open to expose the threaded hole, so that the bolt 221 can be threadedly connected with the threaded hole under the drive of the rotating drive assembly 32. When the cantilever manipulator 2 is disassembled, the second elastic member 1232 releases elastic potential energy, pushes the push bar 1231 and the second shielding cover 123 to reset, and prevents radiation from damaging the internal electrical components of the frame 1 during the disassembly process.

[0053] Preferably, the second elastic member 1232 is a nitrogen spring.

[0054] like Figure 3 , Figure 7 and Figure 8As shown, the clamping assembly 31 includes a first support 311, a clamping block 312, a third elastic member 313 and a second support 314. The first support 311 is mounted on the base 22, and the clamping block 312 is elastically mounted on the first support 311 or the base 22. The clamping block 312 is connected to the base 22 through the third elastic member 313, and the two ends of the third elastic member 313 are respectively connected to the clamping block 312 and the base 22. The second support 314 is arranged on the guide seat 121, and a clamping groove 315 cooperating with the clamping block 312 is provided on the second support 314. The first support 311 mainly protects the third elastic member 313, and some other components can also be placed at this position.

[0055] The present application realizes the function of connecting the base 22 and the guide seat 121 through the first support 311, the block 312, the third elastic member 313, the second support 314 and the slot 315. The linear drive 33 is installed on the second support 314, and the driving end of the linear drive 33 is installed with a push block 331 for pushing the block 312 into the slot 315. The block 312 is provided with an oblique notch, and then an inclined surface is formed on the side of the block 312 away from the first support 311. After the base 22 slides into the guide rail on the mounting seat 12, the inclined surface of the block 312 is squeezed by the guide seat 121, and the third elastic member 313 shrinks. When the block 312 is aligned with the slot 315, the block 312 is inserted into the slot 315 under the elastic force of the third elastic member 313, and then the base 22 is fixed to the guide seat 121 through the engagement between the block 312 and the slot 315.

[0056] When disassembling the cantilever manipulator 2, the bolt 221 is driven to rotate by the rotating drive assembly 32 until the bolt 221 is separated from the threaded hole, and then the push block 331 is driven to extend through the linear drive 33. Through the squeezing action of the push block 331, the block 312 is pushed into the slot 315, and then the cantilever manipulator 2 is removed from the mounting base 12.

[0057] like Figure 6 and Fig. 9 As shown, the rotary drive assembly 32 includes a rotary drive 321, a gear ring 322, a rotating shaft 323, a rotary gear 324 and a bevel gear 325. The rotary drive 321 is mounted on the connecting seat 21, the gear ring 322 is sleeved on the bolt 221, the rotating shaft 323 is rotatably mounted on the connecting seat 21, the rotary gear 324 is sleeved on the rotating shaft 323, the rotating gear 324 is meshedly connected with the gear ring 322, and two bevel gears 325 are provided, the two bevel gears 325 are respectively sleeved on the rotating shaft 323 and the driving end of the rotary drive 321, and the two bevel gears 325 are meshedly connected.

[0058] The present application realizes the function of driving the bolt 221 to rotate by means of a rotary driver 321, a gear ring 322, a rotating shaft 323, a rotating gear 324 and a bevel gear 325. A mounting ring 223 is provided on the bolt 221, and the gear ring 322 is sleeved on the mounting ring 223, and the axis of the mounting ring 223 is colinear with the axis of the bolt 221. The rotary driver 321 is electrically connected to the controller, and after the block 312 is plugged into the slot 315, the bolt 221 is aligned with the threaded hole, and then the controller sends a signal to the rotary driver 321. After receiving the signal, the rotary driver 321 drives the rotating shaft 323 to rotate through the bevel gear 325, and the rotating shaft 323 drives the rotating gear 324 to rotate, and the rotating gear 324 drives the gear ring 322 meshed with it to rotate, and the gear ring 322 drives the mounting ring 223 and the bolt 221 to rotate, and then the connecting seat 21 and the base 22 are installed on the mounting seat 12 through the bolt 221.

[0059] Preferably, the rotation driver 321 is a servo motor, and the servo motor is electrically connected to the controller.

[0060] like Figure 1 and Fig.10 As shown, the moving assembly 13 includes a main track wheel 131, which is installed at the bottom of the frame 1, and an auxiliary track wheel 132 is respectively provided at the front and rear ends of the main track wheel 131.

[0061] The present application realizes the function of adapting to complex terrain through the main track wheel 131 and the auxiliary track wheel 132. The main track wheel 131, as the core of driving and supporting, is made of high-strength and high-wear-resistant materials. Its unique texture design effectively improves the grip and traction on smooth ground and complex terrain, ensuring that the robot can move stably and efficiently in various scenarios such as flat ground, grass, and gravel roads.

[0062] The auxiliary track wheels 132 are designed for vertical or inclined surfaces such as stairs and ramps, and have adjustable tension and angle to adapt to steps or slopes of different heights. These auxiliary track wheels 132 not only enhance the stability of the robot during climbing, but also enable the robot to easily cross obstacles through its flexible adjustment mechanism, and even achieve precise control and smooth transition in narrow stairwells.

[0063] By providing the main track wheels 131 and the auxiliary track wheels 132 , the inspection robot device can move along the ground and climb stairs.

[0064] like Fig.11 As shown, based on the above inspection robot, the present application also provides an intelligent inspection method for use in a radiation environment, comprising the following steps:

[0065] S1, control the movement of the rack 1 through the moving component 13 to perform inspection work;

[0066] S2, determine the working condition, and install the corresponding type of cantilever manipulator 2 according to the working condition;

[0067] S3. Perform maintenance work according to actual working conditions.

[0068] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A patrol robot for use in a radiation environment, characterized in that: The invention comprises a frame (1), a cantilever manipulator (2) and a connecting mechanism (3); the frame (1) has a mounting plate (11), a mounting seat (12) is provided on the mounting plate (11), a guide seat (121) is installed on the mounting seat (12) and cooperates to form a guide rail for guiding the sliding of a base (22); a connecting seat (21) is provided at the end of the cantilever manipulator (2), the base (22) is installed at the bottom of the connecting seat (21), and when installing the cantilever manipulator (2), the frame (1) is moved to slide the base (22) into the guide rail, and the base (22) is connected to the guide seat (121) through the connecting mechanism (3).

2. The inspection robot for use in a radiation environment according to claim 1, characterized in that: The connecting mechanism (3) comprises a snap-fit ​​assembly (31); a first shielding cover (122) for shielding radiation is slidably mounted on the guide seat (121); during the installation of the cantilever manipulator (2), the base (22) pushes the first shielding cover (122), and the base (22) is snap-fitted to the guide seat (121) via the snap-fit ​​assembly (31).

3. The inspection robot for use in a radiation environment according to claim 2, characterized in that: The clamping assembly (31) comprises a first support (311), a clamping block (312), a third elastic member (313) and a second support (314); the first support (311) is mounted on the base (22); the clamping block (312) is connected to the base (22) via the third elastic member (313); the second support (314) is arranged on the guide seat (121); and a clamping groove (315) cooperating with the clamping block (312) is provided on the second support (314).

4. The inspection robot for use in a radiation environment according to claim 3, characterized in that: A linear drive (33) is mounted on the second support (314), and a push block (331) for pushing the clamping block (312) into the clamping slot (315) is mounted on the driving end of the linear drive (33).

5. The inspection robot for use in a radiation environment according to claim 2, characterized in that: The first shielding cover (122) is provided with a contact block (1221) and an extension block (1222), and the extension block (1222) is slidably matched with the inner wall of the guide seat (121). The extension block (1222) is provided with a first elastic member (1223), and the two ends of the first elastic member (1223) are respectively connected to the extension block (1222) and the guide seat (121). When the base (22) slides along the guide rail, the base (22) contacts the contact block (1221) and pushes the contact block (1221) and the first shielding cover (122) to move synchronously.

6. The inspection robot for use in a radiation environment according to claim 1, characterized in that: A bracket (111) is provided on the mounting plate (11), and three groups of cameras (1111) are provided on the bracket (111), wherein the shooting directions of the three groups of cameras (1111) are arranged in a triangle.

7. The inspection robot for use in a radiation environment according to claim 1, characterized in that: A bolt (221) is movably arranged on the base (22), a threaded hole matching the bolt (221) is opened on the mounting seat (12), a second shielding cover (123) for covering the threaded hole is slidably installed on the mounting seat (12), and a rotating drive component (32) for driving the bolt (221) to rotate is provided on the connecting seat (21).

8. The inspection robot for use in a radiation environment according to claim 7, characterized in that: The driving assembly (32) comprises a rotary driver (321), a gear ring (322), a rotating shaft (323), a rotary gear (324) and two meshing bevel gears (325); the rotary driver (321) is mounted on the connecting seat (21); the gear ring (322) is sleeved on the bolt (221); the rotating shaft (323) is rotatably mounted on the connecting seat (21); the rotary gear (324) is sleeved on the rotating shaft (323); the rotary gear (324) is meshingly connected with the gear ring (322); and the two bevel gears (325) are respectively sleeved on the rotating shaft (323) and the driving end of the rotary driver (321).

9. The inspection robot for use in a radiation environment according to claim 1, characterized in that: A moving assembly (13) for driving the device to move is provided at the bottom of the frame (1), and the moving assembly (13) comprises a main track wheel (131), the main track wheel (131) is mounted at the bottom of the frame (1), and an auxiliary track wheel (132) is provided at the front and rear ends of the main track wheel (131), respectively.

10. An intelligent inspection method for use in a radiation environment, characterized in that: The inspection robot for use in a radiation environment according to any one of claims 1 to 9 comprises the following steps: S1, controlling the movement of the frame (1) through the moving component (13) to perform inspection work; S2, determining the working condition and installing the corresponding type of the cantilever manipulator (2) according to the working condition; S3. Perform maintenance work according to actual working conditions.

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