A nuclear radiation detection robot

Abstract

The present application provides a nuclear radiation detection robot, which relates to the field of nuclear radiation detection and includes a body and a grasping component. The grasping component includes a rotating seat rotatably installed at the top of the body, and a first telescopic arm is rotatably installed on the rotating seat. In order to solve the problem that an explosion may occur at any time at the nuclear accident site, generating explosives that damage the camera detection device, and at the same time generating a large amount of dust and debris, which affects the image acquisition and detection of the camera detection device. In the present application, by setting the grasping component to be displaceable to the outer shell, the clamping arm is attached to the outer wall of the outer shell, realizing the protection of the detection camera device. At the same time, the outer shell can cooperate with the assembly cylinder to drive the outer shell to rotate reciprocally, improving the detection range of the camera detection device. At the same time, the rubber strip provided on the clamping arm can clean the outer shell. Under the synchronous action of the axial flow fan blades, it effectively prevents dust and debris from affecting the image acquisition and detection of the camera detection device.

Description

Technical Field

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

[0002] Nuclear radiation detection robots mainly work in places such as nuclear power plants, nuclear fuel production and manufacturing, nuclear fuel reprocessing, nuclear facility decommissioning, nuclear waste treatment, nuclear accident emergency response, and nuclear radiation environmental monitoring. In the work of nuclear accident emergency response, secondary explosions may occur at the nuclear accident site at any time, generating explosives that can damage the camera detection device. At the same time, a large amount of dust and debris will be generated, affecting the image acquisition and detection of the camera detection device, resulting in the inability of the nuclear radiation detection robot 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 be left at the nuclear accident site.

[0003] Therefore, we have made improvements in this regard and proposed a nuclear radiation detection robot. Summary of the Invention

[0004] The purpose of the present invention is to: address the current situation in nuclear accident emergency response work where, after the nuclear radiation detection robot enters the nuclear accident site, secondary explosions can cause damage to the camera detection device. The present invention aims to protect the camera detection device.

[0005] To achieve the above-mentioned invention purpose, the present invention provides a nuclear radiation detection robot to improve the above problems.

[0006] Specifically, this application is as follows:

[0007] A nuclear radiation detection robot includes a body and a grasping component. The grasping component includes a rotating seat rotatably installed on the top of the body. A first telescopic arm is rotatably installed on the rotating seat. The end of the first telescopic arm is rotatably installed with a second telescopic arm. The end of the second telescopic arm is rotatably installed with a mechanical claw. The mechanical claw includes an assembly roller fixedly installed at the end of the second telescopic arm. A plurality of assembly plates are arrayed on the outer wall of the assembly roller. Through grooves are formed through the outer walls of the plurality of assembly plates. A slider is slidably installed between adjacent two assembly plates and is located in the through groove. A clamping arm is rotatably installed on the outer wall of the slider. An electric cylinder is fixedly installed inside the assembly roller. The output end of the electric cylinder is fixedly installed with a moving disk. A plurality of fixing rods are arrayed on the outer wall of the moving disk. The ends of the plurality of fixing rods are respectively rotatably connected with the clamping arms. The ends of the plurality of clamping arms are all rotatably installed with grasping plates. A detection component is arranged on the top of the body. The detection component includes a housing rotatably installed on the top of the body. A visual lens is arranged on the outer wall of the housing. An assembly cavity is formed between the bottom of the housing and the inside of the body. A cleaning component is arranged inside the assembly cavity. The plurality of clamping arms can surround the periphery of the housing. At the same time, the housing will displace towards the inside of the assembly cavity to be connected with the cleaning component. The cleaning component can drive the housing to rotate reciprocally.

[0008] As a preferred technical solution of the present application, the cleaning component includes an assembly cylinder rotatably installed inside the assembly cavity. Axial flow fan blades are provided on the outer wall of the assembly cylinder. A receiving ring is installed on the outer wall of the machine body at the top of the assembly cavity. The receiving ring is rotatably connected to the outer shell. A plurality of air blowing holes are installed through the outer wall of the receiving ring in an array. A plurality of air inlet holes are opened through the bottom of the assembly cavity. A servo motor is fixedly installed at the bottom of the machine body. The output end of the servo motor is fixedly connected to the bottom of the assembly cylinder.

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

[0010] As a preferred technical solution of the present application, a driven rod is rotatably installed between the two limiting 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 outer wall at the top of the assembly cylinder and can be meshed with the gear. A telescopic rod is fixedly installed at the bottom of the screw block. A third return spring is arranged inside the telescopic rod. The end of the telescopic rod abuts against the inner wall of the assembly cylinder. 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 droplet protrusion is provided at the end of the fixed rod. A protrusion is slidably installed inside the clamping arm. The outer wall of the protrusion is in abutting design with the outer wall of the water droplet protrusion. A first return spring is fixedly installed between the bottom of the protrusion and the inner wall of the clamping arm. A first connecting rod is fixedly installed at the bottom of the protrusion. The end of the first connecting rod is hingedly installed with a second connecting rod. The end of the second connecting rod is hingedly connected to the outer wall of the grabbing plate.

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

[0013] As a preferred technical solution of the present application, a collar is slidably installed on the output end of the electric cylinder. A plurality of connecting rods are installed on the bottom of the collar in an array and penetrate through the moving disk. A clamping disk is fixedly installed at the bottom ends of the plurality of connecting rods and can be engaged with the sliding end of the sliding rod. The downward movement of the clamping disk can release the engagement with the sliding end of the sliding rod. A tension spring is fixedly installed between the outer wall of the clamping disk and the moving disk. A conical plate is fixedly installed at the bottom of the rigid plate.

[0014] As a preferred technical solution of the present application, teeth are arrayed on the bottom of the grab plate, and balls are rotatably installed at the ends of the teeth. Card slots are arrayed on the circumferential outer wall of the conical plate, and the card slots can form a clamping connection with the teeth.

[0015] As a preferred technical solution of the present application, a protection component is arranged between the inside of the slider and the sliding groove. The protection component includes cylinders fixedly installed on the inner walls of the sliding groove. Round rods are fixedly installed at the ends of the cylinders, and fixed cone blocks are fixedly installed at the ends of the round rods. An active cone block is slidably installed on the outer wall of the round rod. Slideways are symmetrically penetrated through the outer wall of the slider and are all located in the sliding groove. Two wedge-shaped blocks are symmetrically and slidably installed inside the slider and are located in the slideways. Second return springs are fixedly installed between the two wedge-shaped blocks and the inside of the slider, and the wedge-shaped blocks can form a clamping connection with the fixed cone blocks.

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

[0017] Advantages of the present invention:

[0018] 1. To solve the problem that the explosive generated by the explosion at the nuclear accident site damages the camera detection device, the present application can displace the grasping component to the outer shell through the setting, so that the clamping arm can protect the outer shell, realizing the protection of the detection camera device, preventing the explosive from hitting the outer shell and causing damage to the internal camera detection device inside, affecting the image acquisition and detection of the camera detection device, and at the same time preventing the problem that the nuclear radiation detection robot cannot return from staying at the nuclear accident site; at the same time, the mechanical claw can cooperate the outer shell with the assembly cylinder, driving the outer shell to rotate reciprocally, improving the detection range of the camera detection device and cleaning the outer shell through the rubber strips arranged on the clamping arm. Under the synchronous action of the axial flow fan blades, it effectively prevents dust and debris from affecting the image acquisition and detection of the camera detection device;

[0019] 2. To solve the problem that the electric cylinder is damaged or the control signal is delayed and lost when the mechanical claw works in a high-radiation environment, and the mechanical claw resets itself during the clamping process, resulting in the nuclear radiation items falling off and the nuclear radioactive substances spreading, the present application can effectively prevent the mechanical claw from resetting during the clamping process by arranging the protection component to utilize the wedge-shaped block arranged inside the slider to form a clamping connection with the fixed cone block arranged in the sliding groove. Through the continuous displacement and reset of the slider, the clamping connection between the active cone block and the wedge-shaped block and the fixed cone block can be contacted, preventing the nuclear radiation items from falling during the grasping process while realizing the grasping and placing of items by the mechanical claw;

[0020] 3. Through the rigid plate provided and the conical plate fixedly installed at its bottom, the assembly roller can drive the displacement of the collar through the electric cylinder, so that the clamping connection between the clamping disc and the sliding rod is released. The rigid plate moves downward under the action of gravity, and the rigid plate is clamped by the clamping arm, so that the mechanical claw is stable. At the same time, under the cooperation of the conical plate with the grasping assembly, the crushing treatment of the items at the nuclear accident site can be realized, improving the practicability of the nuclear radiation detection robot;

[0021] 4. By setting the teeth at the bottom of the grasping plate and installing balls rotatably at the ends of the teeth, when the body tilts during the traveling process, the mechanical claw can be made to form a fulcrum and the body can be displaced by operating the grasping assembly, which can prevent the body from tipping over. At the same time, the traveling ability of the nuclear radiation detection robot is improved, and it can cope with the complex terrain at the nuclear accident site. Brief Description of the Drawings

[0022] Figure 1 Structural schematic diagram of the nuclear radiation detection robot provided by the present application;

[0023] Figure 2 Internal structural schematic diagram of the nuclear radiation detection robot provided by the present application;

[0024] Figure 3 Structural schematic diagram of the mechanical claw of the nuclear radiation detection robot provided by the present application;

[0025] Figure 4 Cross-sectional structural schematic diagram of the mechanical claw of the nuclear radiation detection robot provided by the present application;

[0026] Figure 5 For the nuclear radiation detection robot provided by the present application Figure 4 Enlarged structural schematic diagram at A;

[0027] Figure 6 Exploded structural schematic diagram of some parts of the mechanical claw of the nuclear radiation detection robot provided by the present application;

[0028] Figure 7 Partial structural schematic diagram of the mechanical claw of the nuclear radiation detection robot provided by the present application;

[0029] Figure 8 For the nuclear radiation detection robot provided by the present application Figure 7 Enlarged structural schematic diagram at B;

[0030] Figure 9 Internal structural schematic diagram of the detection component and the cleaning component of the nuclear radiation detection robot provided by the present application;

[0031] Figure 10 Internal structural schematic diagram of the detection component and the cleaning component of the nuclear radiation detection robot provided by the present application.

[0032] Indicated in the figure:

[0033] 1. Machine body; 101. Storage box; 102. Electric cover;

[0034] 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;

[0035] 3. Detection component; 301. Housing; 302. Visual lens; 303. Assembly cavity;

[0036] 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;

[0037] 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

[0038] 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.

[0039] As described in the background art, during the nuclear accident emergency response work, explosions may occur at any time at the nuclear accident site, generating explosives that can damage the camera detection device. At the same time, a large amount of dust and debris will be generated, affecting the image acquisition and detection of the camera detection device. As a result, the nuclear radiation detection robot cannot feedback the situation at the nuclear accident site to the staff, and may even cause the nuclear radiation detection robot to be unable to return and be left at the nuclear accident site.

[0040] To solve this technical problem, the present invention provides a nuclear radiation detection robot, which is applied to nuclear radiation detection.

[0041] Specifically, please refer to Figures 1 - 10 , the nuclear radiation detection robot specifically includes:

[0042] A body 1 and a grasping component 2. The grasping component 2 includes a rotating seat 201 rotatably installed on the top of the body 1. A first telescopic arm 202 is rotatably installed on the rotating seat 201. The end of the first telescopic arm 202 is rotatably installed with a second telescopic arm 203. The end of the second telescopic arm 203 is rotatably installed with a mechanical claw 204. The mechanical claw 204 includes an assembly roller 205 fixedly installed at the end of the second telescopic arm 203. A plurality of assembly plates 206 are arrayed on the outer wall of the assembly roller 205. A chute 207 is formed through the outer wall of each of the plurality of assembly plates 206. A slider 501 is slidably installed between adjacent two assembly plates 206 and is located in the chute 207. A clamping arm 208 is rotatably installed on the outer wall of each slider 501. An electric cylinder 219 is fixedly installed inside the assembly roller 205. The output end of the electric cylinder 219 is fixedly installed with a moving disk 211. A plurality of fixing rods 212 are arrayed on the outer wall of the moving disk 211. The ends of the plurality of fixing rods 212 are respectively rotatably connected to the clamping arms 208. The ends of the plurality of clamping arms 208 are all rotatably installed with a gripping plate 209;

[0043] A detection component 3 is arranged on the top of the body 1. The detection component 3 includes a housing 301 rotatably installed on the top of the body 1. A visual lens 302 is arranged on the outer wall of the housing 301. An assembly cavity 303 is formed between the bottom of the housing 301 and the inside of the body 1. A cleaning component 4 is arranged inside the assembly cavity 303. The plurality of clamping arms 208 of the mechanical claw 204 can be attached to the outer wall of the housing 301, and the housing 301 will simultaneously displace into the assembly cavity 303 and be connected to the cleaning component 4. The cleaning component 4 can drive the housing 301 to rotate reciprocally.

[0044] The nuclear radiation detection robot provided by the present invention is to solve the problems in the nuclear accident emergency response work. In the nuclear accident site, explosions may occur at any time, generating explosives that can damage the camera detection device. At the same time, a large amount of dust and debris will be generated, affecting the image acquisition and detection of the camera detection device, resulting in the inability of the nuclear radiation detection robot to feedback the situation of the nuclear accident site to the staff, and even causing the nuclear radiation detection robot to be unable to return and be left in the nuclear accident site. Through the setting of the grasping component 2, the mechanical claw 204 can, under the control of the rotating seat 201, the first telescopic arm 202 and the second telescopic arm 203, grasp and handle the nuclear radioactive items at the nuclear accident site. At the same time, the mechanical claw 204 can be controlled to move to the outer shell 301, and the clamping arm 208 forms a covering protection with the outer wall of the outer shell 301, which can prevent the explosives generated 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 and affecting 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 reciprocally, improving the detection range of the detection component 3. At the same time, the clamping arm 208 fits with the outer wall of the outer shell 301, and a rubber strip is provided on the surface where the clamping arm 208 fits with the outer shell 301. Under the reciprocating rotation of the outer shell 301, the clamping arm 208 can clean the outer wall of the outer shell 301, further improving the image acquisition and detection of the detection component 3 for the nuclear accident site.

[0045] In order to enable the personnel in the technical field to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings.

[0046] It should be noted that, without conflict, the embodiments and the features and technical solutions in the embodiments of the present invention can be combined with each other.

[0047] It should be noted that similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0048] Example 1, please refer to Figure 9 and Figure 10, a nuclear radiation detection robot, which includes a body 1 and a gripping component 2. The gripping component 2 includes a rotating seat 201 rotatably installed on the top of the body 1. A first telescopic arm 202 is rotatably installed on the rotating seat 201. A second telescopic arm 203 is rotatably installed at the end of the first telescopic arm 202. A mechanical claw 204 is rotatably installed at the end of the second telescopic arm 203. The mechanical claw 204 includes an assembly roller 205 fixedly installed at the end of the second telescopic arm 203. A plurality of assembly plates 206 are arrayedly installed on the outer wall of the assembly roller 205. A chute 207 is penetrated through the outer walls of the plurality of assembly plates 206. A slider 501 is slidably installed between two adjacent assembly plates 206 and is located in the chute 207. A clamping arm 208 is rotatably installed on the outer wall of each slider 501. An electric cylinder 219 is fixedly installed inside the assembly roller 205. An output end of the electric cylinder 219 is fixedly installed with a moving disk 211. A plurality of fixing rods 212 are arrayedly installed on the outer wall of the moving disk 211. The end parts of the plurality of fixing rods 212 are respectively rotatably connected to the clamping arms 208. A gripping plate 209 is rotatably installed at the end of each of the plurality of clamping arms 208;

[0049] A detection component 3 is arranged on the top of the body 1. The detection component 3 includes a housing 301 rotatably installed on the top of the body 1. A visual lens 302 is arranged on the outer wall of the housing 301. An assembly cavity 303 is formed between the bottom of the housing 301 and the inside of the body 1. A cleaning component 4 is arranged inside the assembly cavity 303. The plurality of clamping arms 208 can surround the periphery of the housing 301, and the housing 301 will simultaneously displace towards the inside of the assembly cavity 303 to be connected to the cleaning component 4. The cleaning component 4 can drive the housing 301 to rotate reciprocally;

[0050] The cleaning component 4 includes an assembly cylinder 409 rotatably installed inside the assembly cavity 303. Axial flow fan blades 407 are arranged on the outer wall of the assembly cylinder 409. A receiving ring 401 is installed on the outer wall of the body 1 at the top of the assembly cavity 303. The receiving ring 401 is rotatably connected to the housing 301. A plurality of air blowing holes 411 are penetrated and arrayedly installed on the outer wall of the receiving ring 401. A plurality of air inlet holes 412 are penetrated through the bottom of the assembly cavity 303. A servo motor 410 is fixedly installed at the bottom of the body 1. An output end of the servo motor 410 is fixedly connected to the bottom of the assembly cylinder 409;

[0051] Two limiting blocks 402 are symmetrically installed on the outer wall of the receiving ring 401. Two limiting grooves 416 are opened on the outer wall of the body 1. The two limiting blocks 402 are respectively slidably installed in the two limiting grooves 416. A compression spring 403 is fixedly installed at the bottom of the limiting block 402 and is fixedly connected to the inner bottom of the limiting groove 416;

[0052] A driven rod 404 is rotatably installed between 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 installed on the outer wall of the driven rod 404 and is threadedly engaged with the reciprocating screw groove. A gear 405 is fixedly installed on the outer wall of the driven rod 404. A face gear 413 is arranged on the top outer wall of the assembly cylinder 409 and can be meshed with the gear 405. A telescopic rod 408 is fixedly installed at the bottom of the screw block 406. A third return spring 415 is arranged inside the telescopic rod 408. The end of the telescopic rod 408 abuts against the inner wall of the assembly cylinder 409. A vertical rod 414 is fixedly installed between the bottom of the outer shell 301 and the end of the telescopic rod 408.

[0053] In order to solve the problems that in the nuclear accident emergency response work, an explosion may occur at the nuclear accident site at any time, generating explosives that may damage the camera detection device, and 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 device, resulting in the inability of the nuclear radiation detection robot to feedback the situation at the nuclear accident site to the staff, and even the nuclear radiation detection robot cannot return and is left at the nuclear accident site. In this application, by setting the grasping component 2, the mechanical claw 204 can, under the control of the rotating seat 201, the first telescopic arm 202 and the second telescopic arm 203, grasp the nuclear radioactive items at the nuclear accident site, and at the same time, the mechanical claw 204 can be controlled to displace to the outer shell 301. The clamping arm 208 forms a covering protection with the outer wall of the outer shell 301, which can prevent the explosives generated 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, resulting in the image acquisition and detection of the detection component 3 being affected. The mechanical claw 204 can drive the outer shell 301 to displace into the assembly cavity 303 to cooperate with the cleaning component 4, thereby driving the outer shell 301 to rotate reciprocally, improving the detection range of the detection component 3. At the same time, the clamping arm 208 fits with the outer wall of the outer shell 301. A rubber strip is arranged on the surface where the clamping arm 208 fits with the outer shell 301. Under the reciprocating rotation of the outer shell 301, the clamping arm 208 can clean the outer wall of the outer shell 301, further improving the image acquisition and detection of the detection component 3 for the nuclear accident site.

[0054] Specifically, the servo motor 410 drives the assembly cylinder 409 to rotate, thereby driving the axial flow fan blade 407 to rotate. Then, air is introduced through the air inlet hole 412, and the gas is discharged through the air blowing hole 411, so as to be able to blow and wash the outer wall of the outer shell 301, preventing dust and debris from contaminating the outer wall of the outer 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 displaced to the outer shell 301, so that the clamping arm 208 fits against the outer wall of the outer shell 301. At the same time, the outer shell 301 is displaced into the assembly cavity 303. Thus, 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. The gear 405 arranged on the driven rod 404 can mesh with the face gear 413 arranged on the outer wall of the top of the assembly cylinder 409, so as to be able to drive the driven rod 404 to rotate. Through the threaded clamping design of the reciprocating screw groove and the screw block 406 arranged on the driven rod 404, the screw block 406 is driven to reciprocate on the driven rod 404, thereby driving the telescopic rod 408 to displace. Through the third return spring 415 arranged inside the telescopic rod 408, the end of the telescopic rod 408 always abuts against the inner wall of the assembly cylinder 409, so that the end of the telescopic rod 408 reciprocates in an arc. Through the vertical rod 414 fixedly installed between the telescopic rod 408 and the bottom of the outer shell 301, the outer shell 301 can reciprocally rotate, thereby increasing the detection range of the detection component 3. At the same time, under the rotation of the outer shell 301, the rubber strip arranged on the outer wall of the clamping arm 208 can clean the outer wall of the outer shell 301. With the cooperation of the axial flow fan blade 407, it can effectively prevent dust and debris from contaminating the outer wall of the outer shell 301, improving the image acquisition and detection effect of the detection component 3.

[0055] Embodiment 2 further optimizes the nuclear radiation detection robot provided in Embodiment 1. Specifically, as Figure 1 and Figures 3 - 6 shown, a water droplet convex 214 is arranged at the end of the fixed rod 212. A convex block 223 is slidably installed inside the clamping arm 208. The outer wall of the convex block 223 is in contact with the outer wall of the water droplet convex 214. A first return spring 225 is fixedly installed between the bottom of the convex block 223 and the inner wall of the clamping arm 208. A first connecting rod 224 is fixedly installed at the bottom of the convex block 223. The end of the first connecting rod 224 is hingedly installed with a second connecting rod 226. The end of the second connecting rod 226 is hingedly connected to the outer wall of the gripping plate 209;

[0056] A rigid plate 210 is arranged at the bottom of the moving disk 211. A plurality of bases 222 are arrayedly installed on the outer wall of the rigid plate 210. A sliding rod 221 is rotatably installed on each of the plurality of bases 222. The ends of the sliding rods 221 all slide inside the moving disk 211 and the fixed rod 212;

[0057] A collar 215 is slidably mounted on the output end of the electric cylinder 219. A plurality of connecting rods 216 are arrayedly mounted at the bottom of the collar 215 and penetrate through the moving disk 211. The bottom ends of the plurality of connecting rods 216 are fixedly mounted with a clamping disk 217 which can form a clamping connection with the sliding end of the sliding rod 221. The downward movement of the clamping disk 217 can release the clamping connection with the sliding end of the sliding rod 221. A tension spring 218 is fixedly mounted between the outer wall of the clamping disk 217 and the moving disk 211. A conical plate 220 is fixedly mounted at the bottom of the rigid plate 210;

[0058] Tooth grooves 227 are arrayedly formed at the bottom of the gripping plate 209. Ball bearings 213 are rotatably mounted at the ends of the tooth grooves 227. Card slots are arrayedly formed on the circumferential outer wall of the conical plate 220, and the card slots can form a clamping connection with the tooth grooves 227.

[0059] The telescopic movement of the electric cylinder 219 can drive the moving plate 211 to move away from and close to the assembly roller 205. Through the cooperation of the assembly plate 206, the chute 207, the slider 501 and the fixed rod 212, multiple clamping arms 208 can be moved closer to and away from each other, so as to clamp and process the nuclear radioactive items at the nuclear accident site. By setting the first return spring 225, the water droplet 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 for clamping, the water droplet protrusion 214 can drive the protrusion 223 to displace downward, so that the first connecting rod 224 displaces downward. By setting the second connecting rod 226 hinged at the end of the first connecting rod 224, the gripping plate 209 hinged to it can be driven to rotate, so that the gripping plate 209 can receive the nuclear radioactive item, preventing the nuclear radioactive item from falling and causing the diffusion of nuclear radiation substances. When crushing treatment is required at the nuclear accident site, by controlling the electric cylinder 219, the moving plate 211 is moved closer to the assembly roller 205, so that multiple clamping arms 208 are relatively opened. When the moving plate 211 is displaced towards the assembly roller 205 by a certain distance, the bottom of the assembly roller 205 will abut against the collar 215 and drive it to move downward. The clamping disk 217 is moved downward through multiple connecting rods 216, so that the clamping between the end of the sliding rod 221 and the clamping disk 217 is released. The sliding rod 221 slides under the gravity of the rigid plate 210, so that the rigid plate 210 moves downward. Then, by controlling the electric cylinder 219 to move the moving plate 211 away from the assembly roller 205, the clamping arm 208 rotates to clamp the rigid plate 210. The outer wall of the gripping plate 209 fits with the outer wall of the rigid plate 210. At the same time, the teeth 227 provided at the bottom of the gripping plate 209 can form a clamping connection with the card slots opened on the outer wall of the conical plate 220, so that the mechanical claw 204 is kept stable. The conical plate 220 provided at the bottom of the rigid plate 210 can crush the items at the nuclear accident site. When the body 1 tilts during the traveling process, a fulcrum can be formed through the mechanical claw 204 controlled by 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 gripping plate 209 are all rotatably installed with balls 213, which can prevent the body from tipping over when the body 1 tilts, and at the same time improve the traveling ability of the body 1 at the nuclear accident site.

[0060] Example 3 further optimizes a nuclear radiation detection robot provided in Example 2. Specifically, as Figure 2 、 Figure 7 and Figure 8As shown in the figure, a protection component 5 is arranged between the inside of the slider 501 and the chute 207. The protection component 5 includes that cylinders 502 are fixedly installed on the inner walls of the chute 207. A round rod 507 is fixedly installed at the end of the cylinder 502. A fixed cone block 505 is fixedly installed at the end of the round rod 507. A movable cone block 506 is slidably installed on the outer wall of the round rod 507. Slideways 508 are symmetrically formed through the outer wall of the slider 501 and are all located in the chute 207. Two wedge-shaped blocks 503 are symmetrically and slidably installed inside the slider 501 and are located in the slideways 508. Second return springs 504 are fixedly installed between the two wedge-shaped blocks 503 and the inside of the slider 501. The wedge-shaped block 503 can form a clamping connection with the fixed cone block 505;

[0061] A storage box 101 is arranged on the top outer wall of the machine body 1, and an electric cover plate 102 is arranged on the top of the storage box 101.

[0062] In order to solve the problem that the nuclear radiation substances at the nuclear accident site cause damage to the electric cylinder 219. When the mechanical claw 204 is in the clamping state, if the electric cylinder 219 is damaged and resets by itself, it will cause the nuclear radiation items to fall and the nuclear radiation substances to spread. By setting the protection component 5, the wedge-shaped block 503 is arranged inside the slider 501. Under the action of the second return spring 504, the wedge-shaped block 503 is always located in the slideway 508. When the slider 501 displaces a certain distance, the fixed cone block 505 enters the slideway 508, and the fixed cone block 505 can form a clamping connection with the wedge-shaped block 503, which can prevent the slider 501 from resetting and causing the clamping arm 208 to open. When it is necessary to place the clamped item, the electric cylinder 219 can be used to continuously displace the slider 501. The wedge-shaped block 503 can pass through the movable cone block 506, and then the electric cylinder 219 can be used to reset the slider 501, so as to drive 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-shaped block 503 can be displaced, so as to release the clamping connection between the wedge-shaped block 503 and the fixed cone block 505, so that the mechanical claw 204 can place the clamped item, improving the reliability of the mechanical claw 204. By setting the storage box 101, the nuclear radiation items at the nuclear accident site can be collected and transported, so that they can be centrally processed.

[0063] The use process of the nuclear radiation detection robot provided by the present invention is as follows:

[0064] The servo motor 410 drives the assembly cylinder 409 to rotate, thereby causing the axial flow fan blade 407 to rotate. Through the air blowing holes 411, the outer wall of the outer shell 301 can be continuously cleaned. 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 displace onto the outer shell 301, thereby protecting the outer shell 301 and preventing items generated by the explosion at the nuclear accident site from hitting the outer shell 301 and causing damage to the internal devices. At the same time, the outer wall of the clamping arm 208 is attached to the outer wall of the outer shell 301, and the outer shell 301 is moved downward, so that the gear 405 provided on the outer wall of the driven rod 404 meshes with the face gear 413 provided at the top of the assembly cylinder 409, thereby driving the driven rod 404 to rotate. The reciprocating screw groove provided on the driven rod 404 drives the screw block 406 to reciprocate. Under the action of the telescopic rod 408, the third return spring 415, the vertical rod 414, and the inner wall of the assembly cylinder 409, the outer shell 301 reciprocates, thereby increasing the detection range of the detection component 3. At the same time, the rotation of the outer shell 301 enables the rubber strip provided on the clamping arm 208 to clean the outer wall of the outer shell 301. In cooperation with the axial flow fan blade 407, it can effectively prevent dust and debris at the nuclear accident site from contaminating the outer shell 301 and the visual lens 302. By providing the rigid plate 210, the moving disk 211 can be displaced by the electric cylinder 219, so that the assembly roller 205 abuts against the collar 215 and displaces it, thereby displacing the clamping disk 217 and releasing the clamping between the clamping disk 217 and the end of the sliding rod 221. Under the action of gravity, the rigid plate 210 can move downward. Then, the clamping arm 208 clamps the rigid plate 210 through the electric cylinder 219, thereby fixing the mechanical claw 204. The conical plate 220 fixedly installed at the bottom of the rigid plate 210 can crush the items at the nuclear accident site. The reset of the rigid plate 210 can be achieved by controlling the mechanical claw 204 to displace to the top of the outer shell 301 and move downward. Through the outer shell 301, the rigid plate 210 is reset and the end of the sliding rod 221 forms a clamping connection with the clamping disk 217. By providing the protection component 5, the wedge block 503 provided inside the slider 501 can form a clamping connection with the fixed cone block 505, thereby preventing the clamping arm 208 from resetting during the clamping process in the case of damage to the electric cylinder 219 or delay or loss of control signals in a high-radiation environment, resulting in the nuclear radiation items falling off and causing the risk of nuclear radioactive material diffusion. Through the continuous displacement of the slider 501, the wedge block 503 can pass through the movable cone block 506 through the inclined plane. 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, thereby enabling the clamped items to be placed.

[0065] In the present invention, unless otherwise clearly specified or limited, the terms "installed", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral body; it may be a mechanical connection, an electrical connection, or capable of communicating with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0066] Obviously, the embodiments described above are only a part of the embodiments of the present invention, rather than all of the embodiments. The preferred embodiments of the present invention are given in the drawings, but 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 disclosed content of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing specific embodiments, or perform equivalent replacements for some of the technical features. Any equivalent structure made by using the specification and drawings of the present invention, directly or indirectly applied in other related technical fields, shall be equally within the scope of the 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), a visual 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 inside of the body (1), a cleaning component (4) is arranged inside the assembly cavity (303), a plurality of clamping arms (208) can surround the outer periphery of the shell (301), and the shell (301) can simultaneously move toward the inside of the assembly cavity (303) to connect with the cleaning component (4), and the cleaning component (4) can drive the shell (301) to reciprocate; The end of the fixing rod (212) is provided with a water drop protrusion (214), a protrusion (223) is slidably mounted 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 against each other, 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); 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).

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 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).

6. A nuclear radiation detection robot according to claim 5, 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).

7. The nuclear radiation detection robot according to claim 1, 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).

8. The nuclear radiation detection robot according to claim 1, 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).

Images