Nuclear radiation detection robot

Abstract

The invention provides a nuclear radiation detection robot, and relates to the field of nuclear radiation detection, the nuclear radiation detection robot comprises a machine body and a grabbing assembly, the grabbing assembly comprises a rotating seat rotatably mounted at the top of the machine body, and a first telescopic arm is rotatably mounted on the rotating seat. In order to solve the problems that a nuclear accident site explodes at any time to generate explosives to damage a camera shooting detection device, meanwhile, a large amount of dust and chippings are generated, and therefore image collection and detection of the camera shooting detection device are affected, a grabbing assembly is arranged and can move to a shell, and a clamping arm is attached to the outer wall of the shell; according to the camera shooting detection device, protection of the detection camera shooting device is achieved, meanwhile, the shell can be matched with the assembly cylinder and driven to rotate in a reciprocating mode, the detection range of the camera shooting detection device is widened, meanwhile, the shell can be cleaned through rubber strips arranged on clamping arms, and under the synchronous action of axial flow fan blades, the detection efficiency is improved. And dust and chippings are effectively prevented from influencing image acquisition and detection of the camera shooting detection device.

Description

Technical Field

[0001] The present invention relates to the field of nuclear radiation detection, and in particular to a nuclear radiation detection robot. Background Art

[0002] Nuclear radiation detection robots mainly work in nuclear power plants, nuclear fuel production and manufacturing, nuclear fuel reprocessing, nuclear facility decommissioning, nuclear waste treatment, nuclear accident emergency response, nuclear radiation environment monitoring and other places. During the nuclear accident emergency response work, explosions may occur at any time at the nuclear accident site, producing explosives that may damage the camera detection equipment. At the same time, a large amount of dust and debris will be generated, which will affect the image acquisition and detection of the camera detection equipment, resulting in the nuclear radiation detection robot being unable to feedback the situation at the nuclear accident site to the staff, and even causing the nuclear radiation detection robot to be unable to return and remain at the nuclear accident site.

[0003] For example, the Chinese utility model (application number: CN207522584U) discloses a "nuclear radiation leakage detection robot", and its specification discloses: With the development of society, people's demand for energy is increasing, so people have developed nuclear energy. Nuclear energy has been widely used in various fields since its development. Although nuclear energy can meet the needs of human social development, the harm it brings is also fatal. In recent years, various nuclear radiation leakage incidents have occurred frequently. People have begun to pay attention to the problem of nuclear radiation leakage and study its solutions. However, people cannot approach areas with serious nuclear radiation leakage, so it is impossible to obtain accurate data on nuclear radiation leakage areas and formulate effective measures. The above patents can prove the existing defects.

[0004] Therefore, we made improvements to this and proposed a nuclear radiation detection robot. Summary of the invention

[0005] The purpose of the present invention is to protect the camera detection device from being destroyed by a secondary explosion after a nuclear radiation detection robot enters a nuclear accident site during the current nuclear accident emergency response work.

[0006] In order to achieve the above-mentioned purpose of the invention, the present invention provides a nuclear radiation detection robot to improve the above-mentioned problem.

[0007] The specific application is as follows: A nuclear radiation detection robot comprises a body and a gripping assembly, wherein the gripping assembly comprises a rotating seat rotatably mounted on the top of the body, a first telescopic arm is rotatably mounted on the rotating seat, a second telescopic arm is rotatably mounted on the end of the first telescopic arm, a mechanical claw is rotatably mounted on the end of the second telescopic arm, the mechanical claw comprises an assembly roller fixedly mounted on the end of the second telescopic arm, a plurality of assembly plates are mounted on an outer wall array of the assembly roller, a slide groove is penetrated through the outer walls of the plurality of assembly plates, a slider is slidably mounted between two adjacent assembly plates and is located in the slide groove, a clamping arm is rotatably mounted on the outer wall of the slider, an electric cylinder is fixedly mounted inside the assembly roller, A movable disk is fixedly installed at the output end of the electric cylinder, and a plurality of fixed rods are installed in an array on the outer wall of the movable disk. The ends of the plurality of fixed rods are respectively rotatably connected to the clamping arms, and the ends of the plurality of clamping arms are rotatably installed with grab plates. A detection component is arranged on the top of the body, and the detection component includes a shell rotatably installed on the top of the body, a visible lens is arranged on the outer wall of the shell, an assembly cavity is formed between the bottom of the shell and the interior of the body, a cleaning component is arranged inside the assembly cavity, and a plurality of clamping arms can surround the periphery of the shell, and the shell will simultaneously move toward the inside of the assembly cavity to connect with the cleaning component, and the cleaning component can drive the shell to rotate reciprocatingly.

[0008] As the preferred technical solution of the present application, the clean component includes an assembly cylinder rotatably installed inside the assembly chamber, an axial flow fan blade is arranged on the outer wall of the assembly cylinder, a receiving ring is installed on the outer wall of the machine body located at the top of the assembly chamber, the receiving ring is rotatably connected to the outer shell, a plurality of blowing holes are installed in the array through the outer wall of the receiving ring, a plurality of air inlet holes are opened throughout the bottom of the assembly chamber, a servo motor is fixedly installed on the bottom of the machine body, and the output end of the servo motor is fixedly connected to the bottom of the assembly cylinder.

[0009] As the preferred technical solution of the present application, two limit blocks are symmetrically installed on the outer wall of the receiving ring, and two limit grooves are provided on the outer wall of the body. The two limit blocks are respectively slidably installed in the two limit grooves, and a compression spring is fixedly installed on the bottom of the limit block and fixedly connected to the inner bottom of the limit groove.

[0010] As a preferred technical solution of the present application, a driven rod is rotatably installed between the two limit blocks, a reciprocating screw groove is opened on the outer wall of the driven rod, a screw block is slidably installed on the outer wall of the driven rod and is threadedly engaged with the reciprocating screw groove, a gear is fixedly installed on the outer wall of the driven rod, a face gear is provided on the top outer wall of the assembly cylinder and can form an engagement with the gear, a telescopic rod is fixedly installed on the bottom of the screw block, a third return spring is provided inside the telescopic rod, the end of the telescopic rod abuts against the inner wall of the assembly cylinder, and a vertical rod is fixedly installed between the bottom of the outer shell and the end of the telescopic rod.

[0011] As a preferred technical solution of the present application, a water-drop bulge is provided at the end of the fixed rod, a bulge is slidably installed inside the clamping arm, the outer wall of the bulge is designed to abut against the outer wall of the water-drop bulge, a first return spring is fixedly installed between the bottom of the bulge and the inner wall of the clamping arm, a first connecting rod is fixedly installed at the bottom of the bulge, a second connecting rod is hingedly installed at the end of the first connecting rod, and the end of the second connecting rod is hingedly connected to the outer wall of the grab plate.

[0012] As the preferred technical solution of the present application, a rigid plate is provided at the bottom of the movable disk, a rigid plate is provided at the bottom of the movable disk, a plurality of bases are installed on the outer wall array of the rigid plate, sliding rods are rotatably installed on the plurality of bases, and the ends of the sliding rods slide inside the movable disk and the fixed rod.

[0013] As the preferred technical solution of the present application, a ring is slidably installed on the output end of the electric cylinder, a plurality of connecting rods are installed in an array at the bottom of the ring and pass through the movable disk, a clamping disk is fixedly installed at the bottom end of the plurality of connecting rods and can form a clamping connection with the sliding end of the sliding rod, and the downward movement of the clamping disk can release the clamping connection with the sliding end of the sliding rod, a tension spring is fixedly installed between the outer wall of the clamping disk and the movable disk, and a conical plate is fixedly installed at the bottom of the rigid plate.

[0014] As the preferred technical solution of the present application, the bottom of the grab plate is provided with teeth in an array, the ends of the teeth are rotatably mounted with balls, and the circumferential outer wall of the conical plate is provided with slots in an array that can form a snap connection with the teeth.

[0015] As a preferred technical solution of the present application, a protection component is arranged between the interior of the slider and the slide groove, the protection component includes a cylinder fixedly installed on the inner wall of the slide groove, a round rod fixedly installed on the end of the cylinder, a fixed cone block fixedly installed on the end of the round rod, a movable cone block slidably installed on the outer wall of the round rod, a slideway symmetrically penetrated through the outer wall of the slider and both are located in the slide groove, two wedge blocks are symmetrically slidably installed inside the slider and are located in the slideway, a second return spring is fixedly installed between the two wedge blocks and the interior of the slider, and the wedge blocks can form a clamping connection with the fixed cone block.

[0016] As a preferred technical solution of the present application, a storage box is arranged on the top outer wall of the machine body, and an electric cover is arranged on the top of the storage box.

[0017] Beneficial effects of the present invention: 1. In order to solve the problem of the explosives generated by the explosion at the nuclear accident site damaging the camera detection device, the present application provides a gripping assembly that can be moved onto the shell, so that the clamping arm can protect the shell, thereby protecting the detection camera device, preventing the explosives from hitting the shell and causing damage to the internal camera detection device, affecting the image acquisition and detection of the camera detection device, and preventing the nuclear radiation detection robot from being left at the nuclear accident site and unable to return; at the same time, the mechanical claw can make the shell cooperate with the assembly cylinder, drive the shell to reciprocate, increase the detection range of the camera detection device, and clean the shell through the rubber strip provided on the clamping arm. Under the synchronous action of the axial flow fan blades, dust and debris are effectively prevented from affecting the image acquisition and detection of the camera detection device; 2. In order to solve the problem that the mechanical claw works in a high-radiation environment, causing the electric cylinder to be damaged or the control signal to be delayed and lost, and the mechanical claw resets itself during the clamping process, thereby causing the nuclear radioactive items to fall off and the nuclear radioactive materials to spread, the present application uses the protection component to set a wedge block inside the slider to form a clamping connection with the fixed cone block set in the slide slot, which can effectively prevent the mechanical claw from resetting during the clamping process. Through the continuous displacement and reset of the slider, the movable cone block can contact the wedge block and the fixed cone block to clamp, so that the mechanical claw can grasp and place the items while preventing the nuclear radioactive items from falling during the grasping process. 3. Through the rigid plate and the conical plate fixedly installed at the bottom, the assembly roller can drive the ring to move through the electric cylinder, so that the clamping plate and the sliding rod are released, and the rigid plate moves downward under the action of gravity. The rigid plate is clamped by the clamping arm, so that the mechanical claw is stable. At the same time, the conical plate, with the cooperation of the gripping assembly, can realize the crushing of the objects at the nuclear accident site, thereby improving the practicality of the nuclear radiation detection robot; 4. By setting teeth at the bottom of the gripping plate, the ends of the teeth are rotatably installed with ball bearings. When the machine body tilts during movement, the gripping assembly can be operated to make the mechanical claw form a fulcrum and the machine body can be displaced, which can prevent the machine body from tipping over. At the same time, the movement ability of the nuclear radiation detection robot is improved, and it can cope with the complex terrain of the nuclear accident site. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the structure of the nuclear radiation detection robot provided for this application; Figure 2 A schematic diagram of the internal structure of the nuclear radiation detection robot provided for this application; Figure 3 A schematic diagram of the mechanical claw structure of the nuclear radiation detection robot provided in this application; Figure 4 A schematic diagram of the cross-sectional structure of the mechanical claw of the nuclear radiation detection robot provided in this application; Figure 5 The nuclear radiation detection robot provided in this application Figure 4 The enlarged structural diagram at A in the middle; Figure 6 A schematic diagram of the explosion structure of some parts of the mechanical claw of the nuclear radiation detection robot provided in this application; Figure 7 A schematic diagram of a portion of the structure of the mechanical claw of the nuclear radiation detection robot provided in this application; Figure 8 The nuclear radiation detection robot provided in this application Figure 7 A schematic diagram of the enlarged structure at B in the middle; Fig. 9 A schematic diagram of the internal structure of the detection component and the clean component of the nuclear radiation detection robot provided in this application; Fig.10 Schematic diagram of the internal structure of the detection component and the clean component of the nuclear radiation detection robot provided in this application.

[0019] Indicated in the figure: 1. Machine body; 101. Storage box; 102. Electric cover; 2. Gripping assembly; 201. Rotating seat; 202. First telescopic arm; 203. Second telescopic arm; 204. Mechanical claw; 205. Assembly roller; 206. Assembly plate; 207. Slide; 208. Clamping arm; 209. Grasping plate; 210. Rigid plate; 211. Moving plate; 212. Fixed rod; 213. Ball; 214. Water drop convex; 215. Ring; 216. Connecting rod; 217. Snap-on plate; 218. Tension spring; 219. Electric cylinder; 220. Conical plate; 221. Sliding rod; 222. Base; 223. Bump; 224. First connecting rod; 225. First return spring; 226. Second connecting rod; 227. Tooth; 3. Detection component; 301. Housing; 302. Visual lens; 303. Assembly cavity; 4. Cleaning assembly; 401. Receiver ring; 402. Stop block; 403. Compression spring; 404. Follower rod; 405. Gear; 406. Screw block; 407. Axial flow fan blade; 408. Telescopic rod; 409. Assembly cylinder; 410. Servo motor; 411. Air blowing hole; 412. Air inlet hole; 413. Face gear; 414. Vertical rod; 415. Third return spring; 416. Stop slot; 5. Protection assembly; 501. Sliding block; 502. Cylinder; 503. Wedge block; 504. Second return spring; 505. Fixed cone block; 506. Movable cone block; 507. Round rod; 508. Slideway. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0021] As described in the background technology, during the emergency response to a nuclear accident, an explosion may occur at any time at the nuclear accident site, producing explosives that may damage the video detection device. At the same time, a large amount of dust and debris may be generated, thereby affecting the image acquisition and detection of the video detection device, resulting in the nuclear radiation detection robot being unable to feedback the situation at the nuclear accident site to the staff, and even causing the nuclear radiation detection robot to be unable to return and remain at the nuclear accident site.

[0022] In order to solve this technical problem, the present invention provides a nuclear radiation detection robot, which is applied to nuclear radiation detection.

[0023] Specifically, please refer to Figure 1-Figure 10 , the nuclear radiation detection robot specifically comprises: The machine body 1 and the gripping assembly 2, the gripping assembly 2 comprises a rotating seat 201 rotatably mounted on the top of the machine body 1, a first telescopic arm 202 is rotatably mounted on the rotating seat 201, a second telescopic arm 203 is rotatably mounted on the end of the first telescopic arm 202, a mechanical claw 204 is rotatably mounted on the end of the second telescopic arm 203, the mechanical claw 204 comprises an assembly roller 205 fixedly mounted on the end of the second telescopic arm 203, a plurality of assembly plates 206 are mounted on the outer wall array of the assembly roller 205, and the outer walls of the plurality of assembly plates 206 are all penetrated by openings There is a slide groove 207, a slider 501 is slidably installed between two adjacent assembly plates 206 and is located in the slide groove 207, a clamping arm 208 is rotatably installed on the outer wall of the slider 501, an electric cylinder 219 is fixedly installed inside the assembly roller 205, a moving disk 211 is fixedly installed at the output end of the electric cylinder 219, a plurality of fixed rods 212 are installed in an array on the outer wall of the moving disk 211, the ends of the plurality of fixed rods 212 are respectively rotatably connected to the clamping arm 208, and a grab plate 209 is rotatably installed at the ends of the plurality of clamping arms 208; A detection component 3 is arranged on the top of the body 1, and the detection component 3 includes a shell 301 rotatably mounted on the top of the body 1, a visible lens 302 is arranged on the outer wall of the shell 301, an assembly cavity 303 is formed between the bottom of the shell 301 and the interior of the body 1, a cleaning component 4 is arranged inside the assembly cavity 303, a plurality of clamping arms 208 of the mechanical claw 204 can fit with the outer wall of the shell 301, and the shell 301 will simultaneously move into the assembly cavity 303 and connect with the cleaning component 4, and the cleaning component 4 can drive the shell 301 to rotate reciprocatingly.

[0024] The nuclear radiation detection robot provided by the present invention is designed to solve the problem that during the emergency response to a nuclear accident, an explosion may occur at any time at the nuclear accident site, and explosives may cause damage to the camera detection device, and a large amount of dust and debris may be generated, thereby affecting the image acquisition and detection of the camera detection device, thereby causing the nuclear radiation detection robot to be unable to feed back the situation at the nuclear accident site to the staff, and even causing the nuclear radiation detection robot to be unable to return and remain at the nuclear accident site. The present application sets a grasping component 2, and uses a mechanical claw 204 under the control of a rotating seat 201, a first telescopic arm 202, and a second telescopic arm 203, so that the nuclear radioactive items at the nuclear accident site can be grasped and processed, and at the same time, the mechanical claw 204 can be controlled to move to the shell 301, and the clamping arm 208 forms a gripping member with the outer wall of the shell 301. The covering protection can prevent the explosives produced by the explosion at the nuclear accident site from damaging the detection component 3. At the same time, the cleaning component 4 is used to clean the outer shell to prevent dust and debris from contaminating the outer shell 301, which will affect the image acquisition and detection of the detection component 3. The mechanical claw 204 can drive the outer shell 301 to move into the assembly cavity 303 to cooperate with the cleaning component 4, thereby driving the outer shell 301 to rotate back and forth, thereby improving the detection range of the detection component 3. At the same time, the clamping arm 208 is in contact with the outer wall of the outer shell 301, and the surface of the clamping arm 208 that is in contact with the outer shell 301 is provided with a rubber strip. Under the reciprocating rotation of the outer shell 301, the clamping arm 208 can clean the outer wall of the outer shell 301, which can further improve the image acquisition and detection of the nuclear accident site by the detection component 3.

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings.

[0026] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0027] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0028] Example 1, please refer to Fig. 9 and Fig.10A nuclear radiation detection robot comprises a body 1 and a gripping assembly 2, wherein the gripping assembly 2 comprises a rotating seat 201 rotatably mounted on the top of the body 1, a first telescopic arm 202 is rotatably mounted on the rotating seat 201, a second telescopic arm 203 is rotatably mounted on the end of the first telescopic arm 202, a mechanical claw 204 is rotatably mounted on the end of the second telescopic arm 203, the mechanical claw 204 comprises an assembly roller 205 fixedly mounted on the end of the second telescopic arm 203, a plurality of assembly plates 206 are mounted on the outer wall array of the assembly roller 205, and the plurality of assembly plates 206 The outer wall of each assembly roller 205 is provided with a slide groove 207, a slider 501 is slidably installed between two adjacent assembly plates 206 and is located in the slide groove 207, a clamping arm 208 is rotatably installed on the outer wall of the slider 501, an electric cylinder 219 is fixedly installed inside the assembly roller 205, a moving disk 211 is fixedly installed at the output end of the electric cylinder 219, a plurality of fixed rods 212 are installed in an array on the outer wall of the moving disk 211, the ends of the plurality of fixed rods 212 are respectively rotatably connected to the clamping arms 208, and the ends of the plurality of clamping arms 208 are rotatably installed with grab plates 209; A detection component 3 is disposed on the top of the body 1. The detection component 3 includes a housing 301 rotatably mounted on the top of the body 1. A visual lens 302 is disposed on the outer wall of the housing 301. An assembly cavity 303 is formed between the bottom of the housing 301 and the interior of the body 1. A clean component 4 is disposed inside the assembly cavity 303. A plurality of clamping arms 208 can surround the outer periphery of the housing 301. The housing 301 can simultaneously move toward the interior of the assembly cavity 303 and connect with the clean component 4. The clean component 4 can drive the housing 301 to reciprocate. The cleaning component 4 includes an assembly cylinder 409 rotatably installed inside the assembly chamber 303, an axial flow fan blade 407 is arranged on the outer wall of the assembly cylinder 409, a receiving ring 401 is arranged on the outer wall of the body 1 located at the top of the assembly chamber 303, the receiving ring 401 is rotatably connected to the shell 301, a plurality of blowing holes 411 are arranged in an array through the outer wall of the receiving ring 401, a plurality of air inlet holes 412 are arranged throughout the bottom of the assembly chamber 303, a servo motor 410 is fixedly installed on the bottom of the body 1, and the output end of the servo motor 410 is fixedly connected to the bottom of the assembly cylinder 409; Two limit blocks 402 are symmetrically mounted on the outer wall of the receiving ring 401, and two limit grooves 416 are provided on the outer wall of the body 1. The two limit blocks 402 are slidably mounted in the two limit grooves 416 respectively, and a compression spring 403 is fixedly mounted on the bottom of the limit block 402 and is fixedly connected to the inner bottom of the limit groove (416); A driven rod 404 is rotatably installed between the two limit blocks 402, and a reciprocating screw groove is opened on the outer wall of the driven rod 404, and a screw block 406 is slidably installed on the outer wall of the driven rod 404 and is threadedly clamped with the reciprocating screw groove, and a gear 405 is fixedly installed on the outer wall of the driven rod 404, and a face gear 413 is provided on the top outer wall of the assembly cylinder 409 and can form an engagement with the gear 405, and a telescopic rod 408 is fixedly installed on the bottom of the screw block 406, and a third return spring 415 is provided inside the telescopic rod 408, and the end of the telescopic rod 408 abuts against the inner wall of the assembly cylinder 409, and a vertical rod 414 is fixedly installed between the bottom of the shell 301 and the end of the telescopic rod 408.

[0029] In order to solve the problem that during the emergency response to nuclear accidents, explosions may occur at any time at the nuclear accident site, and explosives may cause damage to the camera detection device, and a large amount of dust and debris may be generated, thereby affecting the image acquisition and detection of the camera detection device, thereby causing the nuclear radiation detection robot to be unable to feed back the situation at the nuclear accident site to the staff, and even causing the nuclear radiation detection robot to be unable to return and remain at the nuclear accident site, the present application sets a gripping component 2, and uses a mechanical claw 204 under the control of a rotating seat 201, a first telescopic arm 202 and a second telescopic arm 203 to grip and process nuclear radioactive items at the nuclear accident site, and at the same time can control the mechanical claw 204 to move to the shell 301, and the clamping arm 208 and the outer wall of the shell 301 form a sheath protection, which can prevent Prevent the explosives generated by the explosion at the nuclear accident site from damaging the detection component 3, and use the clean component 4 to clean the shell to prevent dust and debris from contaminating the shell 301, which will affect the image acquisition and detection of the detection component 3. The mechanical claw 204 can drive the shell 301 to move into the assembly cavity 303 to form a match with the clean component 4, thereby driving the shell 301 to reciprocate, thereby improving the detection range of the detection component 3. At the same time, the clamping arm 208 is in contact with the outer wall of the shell 301, and the surface where the clamping arm 208 and the shell 301 are in contact is provided with a rubber strip. Under the reciprocating rotation of the shell 301, the clamping arm 208 can clean the outer wall of the shell 301, which can further improve the image acquisition and detection of the nuclear accident site by the detection component 3; Specifically, the servo motor 410 drives the assembly cylinder 409 to rotate, thereby driving the axial flow fan blades 407 to rotate, so that air is taken in through the air inlet hole 412 and the air is discharged through the air blowing hole 411, so that the outer wall of the shell 301 can be blown and cleaned to prevent dust and debris from contaminating the outer wall of the shell 301. With the cooperation of the rotating seat 201, the first telescopic arm 202 and the second telescopic arm 203, the mechanical claw 204 is moved to the shell 301, so that the clamping arm 208 is fitted with the outer wall of the shell 301, and the shell 301 is displaced into the assembly cavity 303, so that the limit block 402 slides downward in the limit groove 416, driving the driven rod 404 rotating between the two limit blocks 402 to move downward, and the gear 405 set on the driven rod 404 can mesh with the face gear 413 set on the top outer wall of the assembly cylinder 409, thereby driving the driven rod 404 to rotate. The reciprocating screw groove 404 and the threaded clamping design of the screw block 406 drive the screw block 406 to move back and forth on the driven rod 404, thereby driving the telescopic rod 408 to move. Through the third reset spring 415 arranged inside the telescopic rod 408, the end of the telescopic rod 408 is always in contact with the inner wall of the assembly tube 409, so that the end of the telescopic rod 408 moves back and forth in an arc shape. Through the vertical rod 414 fixedly installed between the telescopic rod 408 and the bottom of the shell 301, the shell 301 can be reciprocated, thereby improving the detection range of the detection component 3. At the same time, under the rotation of the shell 301, the rubber strip arranged on the outer wall of the clamping arm 208 can clean the outer wall of the shell 301. With the cooperation of the axial flow fan blades 407, it can effectively prevent dust and debris from contaminating the outer wall of the shell 301, thereby improving the image acquisition and detection effect of the detection component 3.

[0030] Example 2 further optimizes the nuclear radiation detection robot provided in Example 1. Specifically, Figure 1 and Figure 3-Figure 6 As shown, a water drop protrusion 214 is provided at the end of the fixing rod 212, a protrusion 223 is slidably installed inside the clamping arm 208, the outer wall of the protrusion 223 and the outer wall of the water drop protrusion 214 are designed to abut, a first return spring 225 is fixedly installed between the bottom of the protrusion 223 and the inner wall of the clamping arm 208, a first connecting rod 224 is fixedly installed at the bottom of the protrusion 223, a second connecting rod 226 is hingedly installed at the end of the first connecting rod 224, and the end of the second connecting rod 226 is hingedly connected to the outer wall of the grab plate 209; A rigid plate 210 is provided at the bottom of the movable plate 211, and a plurality of bases 222 are installed in an array on the outer wall of the rigid plate 210. Sliding rods 221 are rotatably installed on the plurality of bases 222, and the ends of the sliding rods 221 slide inside the movable plate 211 and the fixed rod 212; A collar 215 is slidably mounted on the output end of the electric cylinder 219, a plurality of connecting rods 216 are mounted in an array at the bottom of the collar 215 and penetrate the movable plate 211, a clamping plate 217 is fixedly mounted at the bottom end of the plurality of connecting rods 216 and can be clamped with the sliding end of the sliding rod 221, the downward movement of the clamping plate 217 can release the clamping with the sliding end of the sliding rod 221, a tension spring 218 is fixedly mounted between the outer wall of the clamping plate 217 and the movable plate 211, and a conical plate 220 is fixedly mounted at the bottom of the rigid plate 210; The bottom of the grab plate 209 is provided with teeth 227 in an array, and the ends of the teeth 227 are rotatably mounted with balls 213. The circumferential outer wall of the conical plate 220 is provided with slots in an array, and the slots can be engaged with the teeth 227.

[0031] The extension and retraction of the electric cylinder 219 can drive the moving plate 211 to move away from and towards the assembly roller 205. The cooperation of the assembly plate 206, the slide groove 207, the slider 501 and the fixed rod 212 can make the multiple clamping arms 208 move closer and farther away, so that the nuclear radioactive materials at the nuclear accident site can be clamped. The first return spring 225 is provided to ensure that the water drop protrusion 214 provided at the end of the fixed rod 212 and the protrusion 223 slidably installed inside the clamping arm 208 are always in contact. When the clamping arm 208 rotates to clamp, the water drop protrusion 214 can drive the protrusion 223 to move. 223 moves downward, thereby causing the first connecting rod 224 to move downward. By setting a second connecting rod 226 hingedly installed at the end of the first connecting rod 224, it can drive the grab plate 209 hingedly connected thereto to rotate, so that the grab plate 209 can receive the nuclear radioactive materials to prevent the nuclear radioactive materials from falling and causing the nuclear radioactive materials to spread. When the nuclear accident site needs to be crushed, the electric cylinder 219 is controlled to make the moving plate 211 approach the assembly roller 205, so that the multiple clamping arms 208 are relatively opened. When the moving plate 211 moves to a certain distance toward the assembly roller 205, the assembly roller 208 is relatively opened. The bottom of 05 will abut against the ring 215, so that the driver moves downward, and the clamping plate 217 is moved downward by multiple connecting rods 216, so that the clamping connection between the end of the sliding rod 221 and the clamping plate 217 is released, and the sliding rod 221 slides and moves under the gravity of the rigid plate 210, so that the rigid plate 210 moves downward, and then the electric cylinder 219 controls the moving plate 211 to move away from the assembly roller 205, so that the clamping arm 208 rotates to clamp the rigid plate 210, and the outer wall of the grab plate 209 fits with the outer wall of the rigid plate 210. At the same time, the teeth 227 set at the bottom of the grab plate 209 can fit with the conical plate A card slot is provided on the outer wall of 220 to form a card connection, so that the mechanical claw 204 remains stable. The conical plate 220 is provided at the bottom of the rigid plate 210 to crush the objects at the nuclear accident site. When the machine body 1 tilts during movement, the mechanical claw 204 can form a fulcrum under the control of the rotating seat 201, the first telescopic arm 202 and the second telescopic arm 203. The ends of the teeth 227 provided at the bottom of the grab plate 209 are rotatably installed with ball bearings 213, which can prevent the machine body 1 from tipping over when it tilts, and at the same time improve the movement ability of the machine body 1 at the nuclear accident site.

[0032] Example 3 further optimizes the nuclear radiation detection robot provided in Example 2. Specifically, Figure 2 , Figure 7 and Figure 8As shown, a protection component 5 is arranged between the inside of the slider 501 and the slide groove 207, and the protection component 5 includes a cylinder 502 fixedly installed on the inner wall of the slide groove 207, a round rod 507 fixedly installed on the end of the cylinder 502, a fixed cone block 505 fixedly installed on the end of the round rod 507, and a movable cone block 506 slidably installed on the outer wall of the round rod 507. The outer wall of the slider 501 is symmetrically penetrated with a slideway 508 and both are located in the slide groove 207. Two wedge blocks 503 are symmetrically slidably installed inside the slider 501 and are located in the slideway 508. A second return spring 504 is fixedly installed between the two wedge blocks 503 and the inside of the slider 501, and the wedge blocks 503 can form a clamping connection with the fixed cone block 505. A storage box 101 is disposed on the top outer wall of the body 1 , and an electric cover 102 is disposed on the top of the storage box 101 .

[0033] In order to solve the problem that the electric cylinder 219 is damaged due to nuclear radioactive materials at the nuclear accident site, and the mechanical claw 204 is in a clamping state, the electric cylinder 219 resets itself when damaged, causing the nuclear radioactive items to fall and the nuclear radioactive materials to spread, a protection component 5 is provided to set a wedge block 503 inside the slider 501. The wedge block 503 is always located in the slideway 508 under the action of the second reset spring 504. When the slider 501 moves a certain distance, the fixed cone block 505 enters the slideway 508. The fixed cone block 505 can form a card connection with the wedge block 503, which can prevent the slider 501 from resetting and causing the clamping arm 208 to open. When placing items, the electric cylinder 219 can be used to continuously displace the slider 501, the wedge block 503 can pass through the movable cone block 506, and then the electric cylinder 219 can be used to reset the slider 501, thereby driving the movable cone block 506 to displace and fit with the fixed cone block 505. Under the action of the conical surface of the movable cone block 506, the wedge block 503 can be displaced, thereby releasing the clamping connection between the wedge block 503 and the fixed cone block 505, so that the mechanical claw 204 can place and clamp items, thereby improving the reliability of the mechanical claw 204. By setting up the storage box 101, nuclear radioactive items at the nuclear accident site can be collected and transported, so that they can be centrally processed.

[0034] The use process of the nuclear radiation detection robot provided by the present invention is as follows: The servo motor 410 drives the assembly cylinder 409 to rotate, thereby rotating the axial flow fan blades 407, and the outer wall of the shell 301 can be continuously cleaned through the blowing hole 411. Under the action of the rotating seat 201, the first telescopic arm 202 and the second telescopic arm 203, the mechanical claw 204 can be driven to move onto the shell 301, so as to protect the shell 301 and prevent the objects produced by the explosion at the nuclear accident site from hitting the shell 301 and causing damage to the internal device. At the same time, the outer wall of the clamping arm 208 fits with the outer wall of the shell 301, and the shell 301 moves downward, so that the gear 405 set on the outer wall of the driven rod 404 meshes with the face gear 413 set on the top of the assembly cylinder 409. The driven rod 404 is combined, thereby driving the driven rod 404 to rotate, and the reciprocating screw groove provided on the driven rod 404 drives the screw block 406 to move back and forth. Under the action of the telescopic rod 408, the third reset spring 415, the vertical rod 414 and the inner wall of the assembly tube 409, the housing 301 is reciprocated, thereby improving the detection range of the detection component 3. At the same time, the rotation of the housing 301 can enable the rubber strip provided on the clamping arm 208 to clean the outer wall of the housing 301. With the cooperation of the axial flow fan blades 407, the dust and debris at the nuclear accident site can be effectively prevented from polluting the housing 301 and the visual lens 302. By providing the rigid plate 210, the movable plate 211 can be positioned by the electric cylinder 219. The assembly roller 205 is displaced by contacting the sleeve ring 215, thereby displacing the clamping plate 217, releasing the clamping connection between the clamping plate 217 and the end of the sliding rod 221, so that the rigid plate 210 can move downward under the action of gravity, and the clamping arm 208 is clamped on the rigid plate 210 by the electric cylinder 219, so that the mechanical claw 204 is fixed, and the conical plate 220 fixedly installed at the bottom of the rigid plate 210 can crush the objects at the nuclear accident site, and the reset of the rigid plate 210 can be achieved by controlling the mechanical claw 204 to move to the top of the shell 301 and move downward, so that the rigid plate 210 is reset through the shell 301 and the end of the sliding rod 221 is clamped with the clamping plate 217, and the rigid plate 210 is reset by the shell 301. The protection component 5 is provided with a wedge block 503 provided inside the slider 501, which can be clamped with the fixed cone block 505, so as to prevent the electric cylinder 219 from being damaged in a high radiation environment or the control signal from being delayed or lost, and the clamping arm 208 from resetting during the clamping process, which may cause the nuclear radiation items to fall off and cause the risk of nuclear radiation materials spreading. Through the continuous displacement of the slider 501, the wedge block 503 can pass through the movable cone block 506 through the bevel surface, and through the reset displacement of the slider 501, the movable cone block 506 is driven to fit with the fixed cone block 505. Under the action of the conical surface of the movable cone block 506, the clamping connection between the wedge block 503 and the fixed cone block 505 is released, so that the clamped items can be placed.

[0035] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions recorded in the aforementioned specific embodiments, or to perform equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the specification and drawings of the present invention, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. A nuclear radiation detection robot, characterized in that: The invention comprises a machine body (1) and a gripping assembly (2), wherein the gripping assembly (2) comprises a rotating seat (201) rotatably mounted on the top of the machine body (1), a first telescopic arm (202) being rotatably mounted on the rotating seat (201), a second telescopic arm (203) being rotatably mounted on the end of the first telescopic arm (202), a mechanical claw (204) being rotatably mounted on the end of the second telescopic arm (203), the mechanical claw (204) comprising an assembly roller (205) fixedly mounted on the end of the second telescopic arm (203), a plurality of assembly plates (206) being mounted in an array on the outer wall of the assembly roller (205), and the outer walls of the plurality of assembly plates (206) are all penetrated A slide groove (207) is penetrated and provided, a slider (501) is slidably installed between two adjacent assembly plates (206) and is located in the slide groove (207), a clamping arm (208) is rotatably installed on the outer wall of the slider (501), an electric cylinder (219) is fixedly installed inside the assembly roller (205), a moving disk (211) is fixedly installed at the output end of the electric cylinder (219), a plurality of fixed rods (212) are installed in an array on the outer wall of the moving disk (211), the ends of the plurality of fixed rods (212) are respectively rotatably connected to the clamping arm (208), and the ends of the plurality of clamping arms (208) are rotatably installed with a gripping plate (209); A detection component (3) is arranged on the top of the body (1), and the detection component (3) comprises a shell (301) rotatably mounted on the top of the body (1), and a visual lens (302) is arranged on the outer wall of the shell (301), and an assembly cavity (303) is formed between the bottom of the shell (301) and the inside of the body (1), and a cleaning component (4) is arranged inside the assembly cavity (303), and a plurality of clamping arms (208) can surround the outer periphery of the shell (301), and the shell (301) can simultaneously move into the assembly cavity (303) to connect with the cleaning component (4), and the cleaning component (4) can drive the shell (301) to reciprocate.

2. A nuclear radiation detection robot according to claim 1, characterized in that: The cleaning component (4) comprises an assembly cylinder (409) rotatably mounted inside an assembly cavity (303); an axial flow fan blade (407) is arranged on the outer wall of the assembly cylinder (409); a receiving ring (401) is mounted on the outer wall of the machine body (1); the receiving ring (401) is rotatably connected to the outer shell (301); a plurality of blowing holes (411) are arranged in an array through the outer wall of the receiving ring (401); a plurality of air inlet holes (412) are arranged on the bottom of the assembly cavity (303); a servo motor (410) is fixedly mounted on the bottom of the machine body (1); and an output end of the servo motor (410) is fixedly connected to the bottom of the assembly cylinder (409).

3. A nuclear radiation detection robot according to claim 2, characterized in that: Two limit blocks (402) are symmetrically mounted on the outer wall of the receiving ring (401), and two limit grooves (416) are provided on the outer wall of the body (1). The two limit blocks (402) are slidably mounted in the two limit grooves (416) respectively, and a compression spring (403) is fixedly mounted on the bottom of the limit block (402) and is fixedly connected to the inner bottom of the limit groove (416).

4. A nuclear radiation detection robot according to claim 3, characterized in that: A driven rod (404) is rotatably mounted between the two limit blocks (402); a reciprocating screw groove is formed on the outer wall of the driven rod (404); a screw block (406) is slidably mounted on the outer wall of the driven rod (404) and is threadedly engaged with the reciprocating screw groove; a gear (405) is fixedly mounted on the outer wall of the driven rod (404); a face gear (413) is provided on the top outer wall of the assembly cylinder (409) and is capable of meshing with the gear (405); a telescopic rod (408) is fixedly mounted on the bottom of the screw block (406); a third return spring (415) is provided inside the telescopic rod (408); an end of the telescopic rod (408) abuts against the inner wall of the assembly cylinder (409); and a vertical rod (414) is fixedly mounted between the bottom of the housing (301) and the end of the telescopic rod (408).

5. The nuclear radiation detection robot according to claim 1, characterized in that: A water drop protrusion (214) is provided at the end of the fixing rod (212); a protrusion (223) is slidably mounted inside the clamping arm (208); the outer wall of the protrusion (223) is designed to abut against the outer wall of the water drop protrusion (214); a first return spring (225) is fixedly mounted between the bottom of the protrusion (223) and the inner wall of the clamping arm (208); a first connecting rod (224) is fixedly mounted at the bottom of the protrusion (223); a second connecting rod (226) is hingedly mounted at the end of the first connecting rod (224); and the end of the second connecting rod (226) is hingedly connected to the outer wall of the grab plate (209).

6. A nuclear radiation detection robot according to claim 5, characterized in that: A rigid plate (210) is provided at the bottom of the movable disk (211), and a plurality of bases (222) are installed in an array on the outer wall of the rigid plate (210). A sliding rod (221) is rotatably installed on each of the plurality of bases (222), and the end of the sliding rod (221) slides inside the movable disk (211) and the fixed rod (212).

7. A nuclear radiation detection robot according to claim 6, characterized in that: A collar (215) is slidably mounted on the output end of the electric cylinder (219); a plurality of connecting rods (216) are mounted in an array at the bottom of the collar (215) and penetrate the movable disk (211); a clamping disk (217) is fixedly mounted at the bottom ends of the plurality of connecting rods (216) and can be clamped with the sliding end of the sliding rod (221); the clamping disk (217) can be released from the clamping with the sliding end of the sliding rod (221) by moving downward; a tension spring (218) is fixedly mounted between the outer wall of the clamping disk (217) and the movable disk (211); and a conical plate (220) is fixedly mounted at the bottom of the rigid plate (210).

8. The nuclear radiation detection robot according to claim 7, characterized in that: The bottom of the grab plate (209) is provided with teeth (227) in an array, and the ends of the teeth (227) are rotatably mounted with balls (213). The circumferential outer wall of the conical plate (220) is provided with slots in an array, and the slots can be engaged with the teeth (227).

9. A nuclear radiation detection robot according to claim 8, characterized in that: A protection component (5) is arranged between the interior of the slider (501) and the slide groove (207), and the protection component (5) comprises a cylinder (502) fixedly installed on the inner wall of the slide groove (207), a round rod (507) fixedly installed on the end of the cylinder (502), a fixed cone block (505) fixedly installed on the end of the round rod (507), and a movable cone block (506) slidably installed on the outer wall of the round rod (507); a slideway (508) symmetrically penetrates the outer wall of the slider (501) and is located in the slide groove (207); two wedge blocks (503) are symmetrically slidably installed in the slider (501) and are located in the slideway (508); a second return spring (504) is fixedly installed between the two wedge blocks (503) and the interior of the slider (501), and the wedge blocks (503) can be clamped with the fixed cone block (505).

10. A nuclear radiation detection robot according to claim 9, characterized in that: A storage box (101) is provided on the top outer wall of the machine body (1), and an electric cover plate (102) is provided on the top of the storage box (101).

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