Dropping device for decontamination robot

Abstract

The invention discloses a throwing device for a decontamination robot, and relates to the technical field of mechanical arms, the throwing device comprises a mechanical clamping jaw and a bridge crane, the mechanical clamping jaw comprises a clamping jaw seat plate, a clamping jaw unit movably arranged on the clamping jaw seat plate and capable of being opened and closed, and a driving unit used for achieving opening and closing of the clamping jaw unit; a visual recognition system is arranged in the middle of the clamping jaw seat plate, the bridge crane is arranged on the storage tank and comprises a crane carriage moving in the Y direction, the crane carriage is provided with a walking mechanism and a lifting mechanical arm, the lifting mechanical arm is connected with an X-direction moving platform, and a rotating platform used for enabling the mechanical clamping jaw to rotate by 360 degrees is arranged at the bottom of the X-direction moving platform. And the X-direction moving platform is used for carrying the rotating platform and the mechanical clamping jaw to move in the X direction. The position of the dirt removing robot at the bottom of the storage tank is determined through the visual recognition system, so that the mechanical clamping jaw is adjusted to be located over the dirt removing robot, and the dirt removing robot is conveniently and accurately grabbed.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, specifically to a dispensing device for a decontamination robot. Background Technology

[0002] The alkaline waste liquid stored in the nuclear facility's tank group undergoes long-term sedimentation, irradiation, salting out, etc., causing hydroxides and hydrated hydroxides to crystallize, deposit, and clump together, thus forming a yellowish-brown sticky slurry mixed with fine white particles.

[0003] For decontamination and sludge removal in storage tanks, most methods involve remote operation using robots. However, after decontamination is completed, the robot's position at the bottom of the tank may not be at the center of the tank bottom depending on the designed decontamination route. In this case, it is difficult for the device used to deploy the robot to accurately grab it. Summary of the Invention

[0004] The main purpose of this application is to provide a dispensing device for a decontamination robot, which aims to solve the problem that existing dispensing devices have difficulty accurately locating the robot, making it difficult to grasp the robot.

[0005] The technical solution adopted in this application is as follows: A dispensing device for a contamination robot, comprising: The mechanical gripper used to grasp the cleaning robot includes a gripper base plate, a gripper unit that can be opened and closed and is movably disposed on the gripper base plate, and a drive unit for realizing the opening and closing of the gripper unit. A vision recognition system is centrally disposed on the gripper base plate. The vision recognition system is used to identify the positioning point arranged at the center of the top surface of the cleaning robot. A bridge crane mounted on a storage tank includes a crane trolley that moves along the Y direction. The crane trolley is equipped with a traveling mechanism and a lifting mechanical arm. The lifting mechanical arm is connected to an X-axis moving platform. The bottom of the X-axis moving platform is equipped with a rotating platform for rotating the mechanical gripper 360 degrees. The X-axis moving platform is used to carry the rotating platform and the mechanical gripper along the X direction.

[0006] Furthermore, the gripper base plate is symmetrically provided with guide slide rods on both sides of its center, and the gripper unit slides on the guide slide rods on both sides.

[0007] Furthermore, the gripper unit includes a gripper arm and a gripper plate. One end of the gripper arm is provided with a guide slider that slides on the guide slide rod, and the other end of the gripper arm is connected to the gripper plate.

[0008] Furthermore, the clamp is provided with several anti-slip textures.

[0009] Furthermore, the driving unit includes: The cylinder is mounted on the gripper base plate, and the output end of the cylinder is fixedly connected to the guide slider on either side. A guide drive plate is provided on the clamping arm. The guide drive plate is provided with a rack and a guide hole. The rack passes through the guide hole provided on the opposite side of the guide drive plate. The gear is disposed on the gripper base plate and meshes with the rack.

[0010] Furthermore, the bottom of the gripper base plate is also provided with guide rollers that are close to the outside of the rack.

[0011] Furthermore, the cylinder is disposed on the top surface of the gripper seat plate and is fixedly connected to the guide slider through a connecting arm. The gripper seat plate is provided with a clearance groove for the connecting arm to pass through.

[0012] Furthermore, the X-axis mobile platform includes: A platform base, which is fixedly connected to the lifting robotic arm; X-axis guide rail, which is fixed to the bottom of the platform base; A platform slider that slides along the X-guide rail; An X-axis drive mechanism is used to drive the platform slider to move.

[0013] Furthermore, the bottom of the X-guide rail is provided with an X-direction groove, and the X-guide rail is provided with X-direction side grooves on both outer walls along its length. The platform slider is provided with a first protrusion and a second protrusion that respectively cooperate with the X-direction groove and the X-direction side groove.

[0014] Furthermore, the X-axis drive mechanism includes: A lead screw shaft is rotatably disposed within the X-direction sliding groove and is threadedly connected to the first protrusion; An X-axis drive motor is connected to the lead screw shaft via a transmission connection.

[0015] Compared with the prior art, the beneficial effects of this application are: This application provides a deployment device for a waste removal robot, comprising a mechanical gripper for grasping the robot and a bridge crane mounted on a storage tank. The mechanical gripper includes a gripper base plate, a gripper unit movably mounted on the gripper base plate and capable of opening and closing, and a drive unit for opening and closing the gripper unit. A vision recognition system is centrally located on the gripper base plate for identifying a positioning point located at the center of the top surface of the waste removal robot. The bridge crane includes a lifting trolley that moves along the Y-axis. The lifting trolley is equipped with a traveling mechanism and a lifting robotic arm. The lifting robotic arm is connected to... The device is equipped with an X-axis moving platform. A rotating platform is located at the bottom of the X-axis moving platform to allow the mechanical gripper to rotate 360 ​​degrees. The X-axis moving platform carries the rotating platform and the mechanical gripper along the X-axis. In this technical solution, a visual recognition system is installed at the center of the gripper base. This system identifies a positioning point located at the center of the top surface of the cleaning robot, determining the robot's position at the bottom of the tank. This coordinates the X-axis moving platform's movement along the X-axis with the lifting trolley's movement along the Y-axis, thereby adjusting the mechanical gripper to be positioned directly above the cleaning robot for accurate gripping. Attached Figure Description

[0016] Figure 1 A schematic diagram of the structure of the dispensing device for the decontamination robot provided in the embodiments of this application; Figure 2 This is a schematic diagram of the mechanical gripper from one perspective in an embodiment of this application; Figure 3 This is a schematic diagram of the mechanical gripper in an embodiment of this application from another perspective; Figure 4 This is a schematic diagram of the guide drive plate from one viewpoint in an embodiment of this application; Figure 5 This is a schematic diagram of the X-axis moving platform from one perspective in an embodiment of this application; Figure 6 This is a cross-sectional view of the X-axis moving platform in one perspective, as shown in the embodiment of the application. Figure 7 This is a cross-sectional view of the lifting robotic arm in an embodiment of this application.

[0017] Explanation of the labels in the attached drawings: 1-Bridge crane, 101-Lifting trolley, 102-Lifting robotic arm, 1021-Inner sleeve, 1022-Middle sleeve, 1023-Outer sleeve, 1024-Telescopic cylinder, 1025-Chain, 1026-Sprocket, 2-X-direction moving platform, 201-Platform base, 202-X-direction guide rail, 203-Platform slider, 204-First protrusion, 205-Second protrusion, 206-Lead screw shaft, 2 07-X-direction drive motor, 3-rotating platform, 4-mechanical gripper, 401-gripper base plate, 402-gripper unit, 4021-gripper arm, 4022-gripper plate, 4023-guide slider, 403-guide slide bar, 404-drive unit, 4041-cylinder, 4042-guide drive plate, 4043-rack, 4044-guide hole, 405-gear, 406-guide roller, 5-vision recognition system. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0020] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0021] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0022] See attached document Figure 1 This application provides a delivery device for a decontamination robot, including a bridge crane 1 and a mechanical gripper 4, wherein the mechanical gripper 4 is used to grasp the robot, and the bridge crane 1 is connected to the mechanical gripper 4 to lift the robot and place it into a storage tank.

[0023] Continue as Figure 1 As shown, a bridge crane 1 is mounted across the storage tank, and the bridge crane 1 includes a crane trolley 101 that moves along the Y direction. The crane trolley 101 is equipped with a traveling mechanism and a lifting mechanical arm 102. The traveling mechanism drives the crane trolley 101 to move. The lifting mechanical arm 102 is connected to an X-direction moving platform 2. The bottom of the X-direction moving platform 2 is equipped with a rotating platform 3 for enabling the mechanical gripper 4 to rotate 360 ​​degrees. The mechanical gripper 4 is connected to the bottom of the rotating platform 3. The X-direction moving platform 2 is used to carry the rotating platform 3 and the mechanical gripper 4 to move along the X direction.

[0024] At the same time, such as Figure 2 and Figure 3 As shown, the mechanical gripper 4 includes a gripper base plate 401, gripper units 402, and a drive unit 404. The gripper base plate 401 is fixed to the connecting rotating platform 3. The gripper units 402 include at least one pair, which are symmetrically and movably arranged on the gripper base plate 401 and the distance between them is adjustable. The drive unit 404 is used to adjust the distance between the gripper units 402 to realize the opening and closing of the gripper units 402. A vision recognition system 5 is centrally arranged on the gripper base plate 401. The vision recognition system 5 is used to identify the positioning point arranged at the center of the top surface of the cleaning robot.

[0025] Since the cleaning robot may not be located at the center of the bottom of the tank after the cleaning is completed, the traditional deployment device used to deploy the cleaning robot has difficulty in accurately locating the robot, making it difficult for the deployment device to accurately grab the robot and remove it from the tank.

[0026] In this embodiment, a visual recognition system 5 is set at the center of the clamp base. The visual recognition system 5 identifies the positioning point set at the center of the top surface of the cleaning robot, and determines the position of the cleaning robot at the bottom of the tank. This coordinates the movement of the X-axis moving platform 2 along the X-axis to cooperate with the movement of the lifting trolley 101 along the Y-axis, thereby adjusting the mechanical gripper 4 to be directly above the cleaning robot so as to accurately grasp the cleaning robot.

[0027] It should be noted that in this embodiment, the so-called X direction and Y direction are defined with the bottom of the tank as the plane, the direction parallel to the bridge crane 1 as the Y direction, and the horizontal direction perpendicular to the bridge crane 1 as the X direction.

[0028] Understandably, the positioning point set at the center of the top surface of the cleaning robot can use a short-wave infrared light source, which has strong penetrating power. Even if the robot's surface is covered with a small amount of mud, it can still be penetrated and captured by the visual recognition system 5. Correspondingly, the visual recognition system 5 is set at the center of the gripper base plate 401. Thus, when the visual recognition system 5 is directly facing the positioning point set at the center of the top surface of the cleaning robot, the mechanical gripper 4 is located directly above the cleaning robot, which facilitates the gripper unit 402 to open and close to grasp the cleaning robot.

[0029] Of course, the visual recognition system 5 belongs to the conventional technology of existing image recognition. It is a technical system that uses computer simulation of human visual function to identify, analyze and make decisions on targets in images or videos. Therefore, by acquiring images of the bottom of the tank through the visual recognition system 5, the positioning point set at the center of the top surface of the decontamination robot is identified, and then the control system set in this delivery device is fed back. The control system controls the lifting trolley 101 and the X-axis moving platform 2 to adjust the mechanical gripper 4 to the top of the decontamination robot to complete the gripping work.

[0030] In a preferred embodiment, such as Figure 7 As shown, the lifting robotic arm 102 includes at least an inner sleeve 1021, an intermediate sleeve 1022, an outer sleeve 1023, a chain 1025, a sprocket 1026, and a telescopic cylinder 1024. The intermediate sleeve 1022 is slidably inserted into the outer sleeve 1023, and the inner sleeve 1021 is slidably inserted into the intermediate sleeve 1022. The tail of the telescopic cylinder 1024 is fixed inside the inner sleeve 1021, and the sprocket 1026 rotates. The cylinder body of the telescopic cylinder 1024 is installed at the tail end. The cylinder head of the telescopic rod is fixed inside the intermediate sleeve 1022. The output end of the telescopic cylinder 1024 is fixed inside the outer sleeve 1023. One end of the chain 1025 is fixed inside the outer sleeve 1023. The other end of the chain 1025 passes around the sprocket 1026 and is fixed inside the inner sleeve 1021. The outer sleeve 1023 is fixed to the bottom of the crane trolley 101 by bolts from the end seat.

[0031] In the above embodiment, the extension and retraction of the telescopic cylinder 1024 drives the middle layer sleeve 1022 and the inner layer sleeve 1021 to move, while the outer layer sleeve 1023 is pulled to move by the sprocket 1026 and the chain 1025, thereby achieving synchronous extension and retraction. Therefore, the deployment and retrieval of the decontamination robot can be realized by the lifting robotic arm 102.

[0032] Of course, in the above embodiments, the telescopic cylinder 1024 can be a pneumatic cylinder or a hydraulic cylinder. Apart from that, the rest of the structure of the bridge crane 1 is a conventional structure, which will not be described in detail here.

[0033] In a preferred embodiment, such as Figure 2 , Figure 3 and Figure 4 As shown, specifically for the mechanical gripper 4, the gripper base plate 401 is preferably a rectangular plate. Guide slide rods 403 are symmetrically arranged on the bottom surface of the gripper base plate 401 along its length with its center. The guide slide rods 403 are mounted to the bottom of the gripper base plate 401 via slide rod fixing plates. A gripper unit 402 is slidably mounted on each guide slide rod 403. The gripper unit 402 includes a gripping arm 4021 and a gripping plate 4022. The gripping arm 4021 is arranged vertically, and a guide slider 4023 is integrally formed at the top of the gripping arm 4021. The guide slider 4023 has pre-formed guide holes and is fitted onto the guide slide rod 403 through the guide holes. The gripping plate 4022 is integrally formed on the bottom of the gripping arm 4021, and the gripping plate 4022 has several anti-slip textures to increase the friction when the gripping plate 4022 contacts the cleaning robot.

[0034] Continue as Figure 2 , Figure 3 and Figure 4 As shown, the drive unit 404 includes a cylinder 4041, a guide drive plate 4042, and a gear 405. The cylinder 4041 is fixedly mounted on the top surface of the gripper base plate 401, and its output end is fixedly connected to a guide slider 4023 on either side. Since the guide slider 4023 is located below the gripper base plate 401 and the cylinder 4041 is located above it, to achieve the fixed connection between the output end of the cylinder 4041 and the guide slider 4023, as shown... Figure 2 As shown, the output end of the cylinder 4041 is fixed with a connecting arm by bolts. The connecting arm is welded and fixed vertically downward to the guide slider 4023. At the same time, a clearance groove 407 is also provided on the gripper seat plate 401 along the length direction to ensure that the connecting arm can move normally and without obstruction during the extension process of the cylinder 4041.

[0035] At the same time, such as Figure 2 , Figure 3 and Figure 4As shown, the guide drive plate 4042 consists of a pair of two plates. The guide drive plate 4042 is welded and fixed to the inner side of the clamping arm 4021 via a connecting block. The two guide drive plates 4042 are arranged facing each other. Each guide drive plate 4042 is a rectangular plate and is perpendicular to the length direction of the gripper base plate 401. A rack 4043 is provided on one side of each guide drive plate 4042, extending to the end of the guide slide rod 403 on the opposite side. The other side of the guide drive plate is... There is a guide hole 4044. The rack 4043 of one guide drive plate 4042 is inserted straight into the guide hole 4044 of the opposite guide drive plate 4042, and the rack 4043 of the other guide drive plate 4042 is inserted straight into the guide hole 4044 of the opposite guide drive plate 4042. They are slidably connected to each other. At the same time, the gear 405 is fixed to the bottom center of the chuck seat plate 401 through the gear shaft and meshes with the rack 4043.

[0036] In the above embodiments, such as Figure 2 , Figure 3 As shown, when the cylinder 4041 is in its naturally contracted state, the gripper units 402 on both sides are in a closed state. When the cylinder 4041 gradually extends, it drives the gripper unit 402 connected to its output end to move outward. During the movement of the gripper unit 402 connected to the output end of the cylinder 4041, the rack 4043 on which it is located moves accordingly, thereby causing the meshing gear 405 to rotate synchronously. Then, the rotation of the gear 405 drives the other rack 4043 to move, thereby causing the gripper unit 402 on the other side to move outward, so that the two gripper units 402 gradually open. Conversely, when the cylinder 4041 gradually contracts, the gripper units 402 on both sides gradually close to form a clamping state.

[0037] In a preferred embodiment, such as Figure 2 and Figure 3 As shown, a wheel frame is also provided at the bottom of the gripper base plate 401, a wheel axle is installed on the wheel frame, and a guide roller 406 is installed on the wheel axle. The guide roller 406 is in contact with the outer side of the rack 4043.

[0038] In the above embodiment, a guide roller 406 is provided on the outside of the rack 4043 to fit with it. This not only guides the movement direction of the rack 4043, but also enables the rack 4043 to mesh with the gear 405, thereby realizing the synchronous movement of the gripper units 402 on both sides.

[0039] In a preferred embodiment, such as Figure 3 As shown, a mounting hole is provided at the end of the gear shaft, and the camera in the vision recognition system 5 is installed in this mounting hole, while other components of the vision recognition system 5 (not shown in the figure) are set on the top surface of the gripper base plate 401.

[0040] In this embodiment, the camera is centered in the middle of the mechanical gripper 4. Thus, during the recognition process, when it corresponds to the positioning point set at the center of the top surface of the cleaning robot, that is, when the mechanical gripper 4 is directly above the cleaning robot, it can be ensured that the mechanical gripper 4 can accurately grasp the cleaning robot.

[0041] In a preferred embodiment, such as Figure 5 and Figure 6 As shown, the X-axis moving platform 2 includes a platform base 201, an X-axis guide rail 202, a platform slider 203, and an X-axis drive mechanism. The platform base 201 is fixedly welded to the bottom of the lifting robotic arm, the X-axis guide rail 202 is fixed to the bottom of the platform base 201, the platform slider 203 slides along the X-axis guide rail 202, the rotating platform 3 is fixedly disposed on the bottom of the platform slider 203, and the mechanical gripper 4 is fixed to the bottom of the rotating platform 3. The X-axis drive mechanism is used to drive the platform slider to move.

[0042] In the above embodiment, the platform slider 203 is driven to slide along the X-guide rail 202 by the X-direction drive mechanism, so that the platform slider 203 carries the rotating platform 3 and the mechanical gripper 4 to move synchronously along the X-guide rail 202, thereby adjusting the position of the mechanical gripper 4 in the X direction.

[0043] Therefore, when the visual recognition system 5 obtains the positioning point set at the center of the top surface of the cleaning robot, the control system of this device controls the lifting trolley 101 to move along the Y direction. The lifting robotic arm carries the X-direction moving platform 2, the rotating platform 3 and the mechanical gripper 4 to move synchronously along the Y direction. At the same time, the X-direction moving platform 2 carries the rotating platform 3 and the mechanical gripper 4 to move synchronously along the X direction. Thus, the mechanical gripper 4 can adjust its position in the X and Y directions, so that the mechanical gripper 4 is located directly above the cleaning robot. Then, the mechanical gripper 4 grabs the cleaning robot, and the lifting robotic arm 102 lifts the cleaning robot out of the storage tank. Finally, the lifting trolley 101 transfers the cleaning robot outside the storage tank.

[0044] In a preferred embodiment, to enable the platform slider 203 to move along the X-guide rail 202, as follows: Figure 5 and Figure 6 As shown, the bottom of the X-guide rail 202 is provided with an X-direction groove along the length direction, and the X-guide rail 202 is provided with X-direction side grooves on both outer walls along the length direction. The platform slider 203 is provided with a first protrusion 204 and a second protrusion 205 that respectively cooperate with the X-direction groove and the X-direction side groove.

[0045] At the same time, continue as Figure 5 and Figure 6As shown, the X-axis drive mechanism includes a lead screw shaft 206 and an X-axis drive motor 207. The lead screw shaft 206 is rotatably mounted in the X-axis slide groove by means of a bearing connection and is threadedly connected to the first protrusion 204. One end of the lead screw shaft 206 extends out of the X-axis slide groove and is connected to the X-axis drive motor 207 by a coupling.

[0046] When the X-axis drive motor 207 rotates, it drives the lead screw shaft 206 to rotate, so that the platform slider 203 slides back and forth along the lead screw on the X-axis guide rail 202, thereby realizing the position adjustment of the rotating platform 3 and the mechanical gripper 4.

[0047] In the above embodiments, as is conventional, the rotating platform 3 includes a base and a rotating motor. The base is fixedly connected to the bottom of the platform slider 203 by bolts. The bottom of the base is provided with a mounting cavity. The rotating motor is embedded in the mounting cavity and fixed by bolts. The output end of the rotating motor is fixedly connected to the gripper base plate 401.

[0048] As the mechanical gripper 4 is moved above the cleaning robot, the gripping direction of the mechanical gripper still needs to be adapted to the cleaning robot. Therefore, the position of the mechanical gripper is adjusted by rotating the platform so that the mechanical gripper is in the corresponding gripping direction, thus enabling the cleaning robot to be gripped.

[0049] In summary, the present application provides a deployment device for a decontamination robot, comprising a mechanical gripper 4 for grasping the decontamination robot and a bridge crane 1 mounted on a storage tank. The mechanical gripper 4 includes a gripper base plate 401, a gripper unit 402 movably mounted on the gripper base plate 401 and capable of opening and closing, and a drive unit 404 for realizing the opening and closing of the gripper unit 402. A vision recognition system 5 is centrally located on the gripper base plate 401, and the vision recognition system 5 is used to identify a positioning point located at the center of the top surface of the decontamination robot. The bridge crane 1 includes a lifting trolley 101 that moves along the Y direction. The lifting trolley 101 is equipped with a traveling mechanism and a lifting mechanical arm 102. The lifting robotic arm 102 is connected to an X-axis moving platform 2. The bottom of the X-axis moving platform 2 is equipped with a rotating platform 3 for enabling the mechanical gripper 4 to rotate 360 ​​degrees. The X-axis moving platform 2 is used to carry the rotating platform 3 and the mechanical gripper 4 to move along the X-axis. In this technical solution, a visual recognition system 5 is set at the center of the gripper base plate 401. The visual recognition system 5 identifies the positioning point set at the center of the top surface of the cleaning robot, determines the position of the cleaning robot at the bottom of the tank, and thus coordinates the movement of the X-axis moving platform 2 along the X-axis to cooperate with the movement of the lifting trolley 101 along the Y-axis, thereby adjusting the mechanical gripper 4 to be directly above the cleaning robot for accurate gripping of the cleaning robot.

[0050] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A dispensing device for a contamination robot, characterized in that, include: The mechanical gripper used to grasp the cleaning robot includes a gripper base plate, a gripper unit that can be opened and closed and is movably disposed on the gripper base plate, and a drive unit for realizing the opening and closing of the gripper unit. A vision recognition system is centrally disposed on the gripper base plate. The vision recognition system is used to identify the positioning point arranged at the center of the top surface of the cleaning robot. A bridge crane mounted on a storage tank includes a crane trolley that moves along the Y direction. The crane trolley is equipped with a traveling mechanism and a lifting mechanical arm. The lifting mechanical arm is connected to an X-axis moving platform. The bottom of the X-axis moving platform is equipped with a rotating platform for rotating the mechanical gripper 360 degrees. The X-axis moving platform is used to carry the rotating platform and the mechanical gripper along the X direction.

2. The dispensing device for a contamination robot according to claim 1, characterized in that, The gripper base plate is symmetrically provided with guide slide rods on both sides of its center, and the gripper unit slides on the guide slide rods on both sides.

3. The dispensing device for a contamination robot according to claim 2, characterized in that, The gripper unit includes a gripper arm and a gripper plate. One end of the gripper arm is provided with a guide slider that slides on the guide slide rod, and the other end of the gripper arm is connected to the gripper plate.

4. The dispensing device for a contamination robot according to claim 3, characterized in that, The clamp is provided with several anti-slip textures.

5. The dispensing device for a contamination robot according to claim 3, characterized in that, The driving unit includes: The cylinder is mounted on the gripper base plate, and the output end of the cylinder is fixedly connected to the guide slider on either side. A guide drive plate is provided on the clamping arm. The guide drive plate is provided with a rack and a guide hole. The rack passes through the guide hole provided on the opposite side of the guide drive plate. The gear is disposed on the gripper base plate and meshes with the rack.

6. The dispensing device for a contamination robot according to claim 5, characterized in that, The bottom of the gripper base plate is also provided with guide rollers that are close to the outside of the rack.

7. The dispensing device for a decontamination robot according to claim 5, characterized in that, The cylinder is disposed on the top surface of the gripper base plate and is fixedly connected to the guide slider through a connecting arm. The gripper base plate is provided with a clearance groove for the connecting arm to pass through.

8. The dispensing device for a contamination robot according to claim 1, characterized in that, The X-axis mobile platform includes: A platform base, which is fixedly connected to the lifting robotic arm; X-axis guide rail, which is fixed to the bottom of the platform base; A platform slider that slides along the X-guide rail; An X-axis drive mechanism is used to drive the platform slider to move.

9. The dispensing device for a decontamination robot according to claim 8, characterized in that, The bottom of the X-guide rail is provided with an X-direction groove, and the X-guide rail is provided with X-direction side grooves on both outer walls along its length. The platform slider is provided with a first protrusion and a second protrusion that respectively cooperate with the X-direction groove and the X-direction side groove.

10. The dispensing device for a decontamination robot according to claim 9, characterized in that, The X-axis drive mechanism includes: A lead screw shaft is rotatably disposed within the X-direction sliding groove and is threadedly connected to the first protrusion; An X-axis drive motor is connected to the lead screw shaft via a transmission connection.

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