Hydraulic quadruped robot for nuclear emergency radiation investigation and radioactive area inspection sampling

Abstract

The hydraulic quadruped robot for nuclear emergency radiation investigation and radioactive area inspection sampling comprises a walking device, a storage battery is installed on the upper end face of the walking device in a sliding mode, a first screw rod is rotatably installed on the upper end face of the walking device through a moving groove, and a rocking wheel is fixedly installed on the outer wall of the first screw rod. Two moving sleeves are installed on the outer wall of the first screw rod through limiting mechanisms in a threaded mode, and fixing plates are fixedly connected to the upper end faces of the two moving sleeves through connecting mechanisms. By arranging the second screw rod, the electric push rod, the clamping plates, the anti-skid toothed plate and the like, the height of the two clamping plates can be conveniently adjusted under the driving of the second screw rod, so that objects at different positions can be clamped and sampled, and the clamping plates can be conveniently clamped and sampled under the driving of the electric push rod. The two clamping plates can clamp and sample objects of different sizes through the anti-skid toothed plates, the friction force between the anti-skid toothed plates and the outer walls of the objects can be increased through the anti-skid toothed plates, and the clamping effect is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot can perform tasks such as work or movement through programming and automatic control, among which the hydraulic quadruped robot has good stability when walking.

[0003] In order to avoid harm to the human body when conducting reconnaissance and inspection of nuclear radiation and radioactive areas, robots are usually used for reconnaissance and inspection of nuclear radiation and radioactive areas. In the prior art, most quadruped robots used for inspection and sampling are not convenient for clamping objects at different positions due to their fixed overall height, which leads to certain limitations in sampling, and thus leads to insufficient practicality of robots in reconnaissance and inspection of nuclear radiation and radioactive areas. Therefore, it is necessary to redesign the hydraulic quadruped robot for nuclear emergency radiation reconnaissance and radioactive area inspection and sampling in response to the above problems. Utility Model Content

[0004] The utility model aims to solve the shortcomings in the prior art and proposes a hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling comprises a walking device, a storage battery is slidably mounted on the upper surface of the walking device, a first screw is rotatably mounted on the upper surface of the walking device through a moving groove, a rocker is fixedly mounted on the outer wall of the first screw, two moving sleeves are threadedly mounted on the outer wall of the first screw through a limiting mechanism, the upper end surfaces of the two moving sleeves are fixedly connected with a fixing plate through a connecting mechanism, a camera and a radiation monitoring device are fixedly mounted on the upper end surface of the battery, a control terminal device is fixedly mounted on the upper surface of the walking device, two connecting sleeves are fixedly mounted on the upper surface of the walking device, and the insides of the two connecting sleeves are slidably mounted with a buffer mechanism. A connecting rod, a second screw is rotatably installed on the outer wall of the walking device through the lifting frame, a motor connected to the second screw is fixedly installed on the upper end surface of the lifting frame, a moving block is threadedly installed on the outer wall of the second screw, a second limit rod is fixedly installed inside the lifting frame, the second limit rod slides through the moving block, a connecting frame is fixedly installed on the end of the moving block, the inner walls on both sides of the connecting frame are fixedly connected with clamping plates through a telescopic mechanism, anti-slip tooth plates are fixedly installed on the inner walls of the two clamping plates, two lighting lamps are fixedly installed on the outer wall of the walking device, and the battery is electrically connected to the walking device, the camera, the radiation monitoring equipment, the control terminal equipment, the motor, the electric push rod and the lighting lamp respectively.

[0007] Preferably, the limiting mechanism comprises a first limiting rod fixedly mounted inside the movable groove, and the first limiting rod slides through the two movable sleeves.

[0008] Preferably, the connection mechanism comprises a connection rod fixedly mounted on the upper end surface of the movable sleeve, and the end of the connection rod is fixedly connected to the outer wall of the fixed plate.

[0009] Preferably, the buffer mechanism comprises a buffer spring fixedly mounted inside the connecting sleeve, and two ends of the buffer spring are elastically connected to the inner wall of the connecting sleeve and the bottom wall of the connecting rod respectively.

[0010] Preferably, the telescopic mechanism comprises an electric push rod fixedly mounted on the inner wall of the connecting frame, and the telescopic end of the electric push rod is fixedly connected to the outer wall of the clamping plate.

[0011] Preferably, the ends of the two connecting rods are commonly fixedly connected with a baffle, and the baffle is galvanized.

[0012] Beneficial effects of the utility model:

[0013] By setting up components such as a second screw rod, an electric push rod, a clamping plate and an anti-slip tooth plate, the height of the two clamping plates can be conveniently adjusted under the drive of the second screw rod, thereby objects in different positions can be clamped and sampled, and under the drive of the electric push rod, the two clamping plates can clamp and sample objects of different sizes through the anti-slip tooth plate, and the anti-slip tooth plate can increase the friction with the outer wall of the object, thereby increasing the clamping effect.

[0014] 2. By setting up components such as baffles, connecting rods and buffer springs, the baffles can provide safety protection for electronic equipment on the upper end surface of the walking equipment to prevent damage to the electronic equipment caused by falling objects from heights. When the baffle is hit, the baffle can drive the connecting rod to slide inside the connecting sleeve and squeeze the buffer spring. The elasticity of the buffer spring can absorb and buffer the force, thereby preventing the vibration caused by the force from affecting the normal operation of the electronic equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of a hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling proposed by the utility model;

[0016] Figure 2 for Figure 1 Schematic diagram of the vertical section structure;

[0017] Figure 3 This is a side view structural schematic diagram of a hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling proposed by the utility model;

[0018] Figure 4 for Figure 2 A schematic diagram of the structure enlargement at point A;

[0019] Figure 5 for Figure 3 Schematic diagram of the enlarged structure at point B in FIG.

[0020] In the figure: 1 walking device, 2 battery, 3 first screw rod, 4 rocker, 5 first limit rod, 6 moving sleeve, 7 connecting rod, 8 fixing plate, 9 camera, 10 radiation monitoring device, 11 control terminal device, 12 connecting sleeve, 13 buffer spring, 14 connecting rod, 15 baffle, 16 lifting frame, 17 second screw rod, 18 motor, 19 second limit rod, 20 moving block, 21 connecting frame, 22 electric push rod, 23 clamping plate, 24 anti-slip tooth plate, 25 lighting lamp. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely 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, rather than all of the embodiments.

[0022] Reference Figure 1-5 The invention discloses a hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling, comprising a walking device 1, a battery 2 is slidably installed on the upper end surface of the walking device 1, a first screw rod 3 is rotatably installed on the upper end surface of the walking device 1 through a moving groove, the first screw rod 3 is a double-headed screw rod, a rocker 4 is fixedly installed on the outer wall of the first screw rod 3, two moving sleeves 6 are threadedly installed on the outer wall of the first screw rod 3 through a limiting mechanism, the limiting mechanism comprises a first limiting rod 5 fixedly installed inside the moving groove, the first limiting rod 5 slides through the two moving sleeves 6, the first limiting rod 5 can limit the two moving sleeves 6, so that the two moving sleeves 6 can only move axially along the outer wall of the first screw rod 3, the upper end surfaces of the two moving sleeves 6 are fixedly connected with a fixed plate 8 through a connecting mechanism, the connecting mechanism comprises a connecting rod 7 fixedly installed on the upper end surface of the moving sleeve 6, and the end of the connecting rod 7 is fixedly connected to the outer wall of the fixed plate 8.

[0023] A camera 9 and a radiation monitoring device 10 are fixedly installed on the upper end surface of the battery 2, a control terminal device 11 is fixedly installed on the upper end surface of the walking device 1, and two connecting sleeves 12 are fixedly installed on the upper end surface of the walking device 1. Connecting rods 14 are slidably installed inside the two connecting sleeves 12 through a buffer mechanism. The buffer mechanism includes a buffer spring 13 fixedly installed inside the connecting sleeve 12, and the two ends of the buffer spring 13 are elastically connected to the inner wall of the connecting sleeve 12 and the bottom wall of the connecting rod 14 respectively. A baffle 15 is fixedly connected to the ends of the two connecting rods 14. The baffle 15 is galvanized. Galvanizing can greatly improve the corrosion resistance of metal parts. The principle is to cover the metal surface with a layer of zinc to form a protective barrier to prevent the metal surface from corrosion, thereby increasing the durability of the baffle 15.

[0024] The outer wall of the walking device 1 is rotatably mounted with a second screw 17 through a lifting frame 16, a motor 18 connected to the second screw 17 is fixedly mounted on the upper end surface of the lifting frame 16, a moving block 20 is threadedly mounted on the outer wall of the second screw 17, a second limiting rod 19 is fixedly mounted inside the lifting frame 16, the second limiting rod 19 slides through the moving block 20, and the second limiting rod 19 can limit the moving block 20 so that the moving block 20 can only move axially along the outer wall of the second screw 17, and a connecting frame 21 is fixedly mounted on the end of the moving block 20. The inner walls on both sides of the connecting frame 21 are fixedly connected with clamping plates 23 through a telescopic mechanism. The telescopic mechanism includes an electric push rod 22 fixedly installed on the inner wall of the connecting frame 21. The telescopic end of the electric push rod 22 is fixedly connected to the outer wall of the clamping plate 23. The inner walls of the two clamping plates 23 are fixedly installed with anti-slip tooth plates 24. Two lighting lamps 25 are fixedly installed on the outer wall of the walking device 1. The battery 2 is electrically connected to the walking device 1, the camera 9, the radiation monitoring device 10, the control terminal device 11, the motor 18, the electric push rod 22 and the lighting lamp 25 respectively.

[0025] When the utility model is used, the storage battery 2 can be placed on the upper end surface of the walking device 1 first, and then the rocker 4 can be rotated to drive the first screw 3 to rotate. The first screw 3 can conveniently power the walking device 1, the camera 9, the radiation monitoring device 10, the control terminal device 11, the motor 18, the electric push rod 22 and the lighting lamp 25 through the storage battery 2. When conducting investigation and detection sampling, all electronic devices can be wirelessly controlled by the control terminal device 11. When the walking device 1 is walking, the image of the range in which it is located can be transmitted through the camera 9, the radiation monitoring device 10 can detect the radiation value of the range in which it is located, and when the light in the area is insufficient, it can be illuminated by two lighting lamps 25, thereby avoiding affecting the visual effect of the camera 9;

[0026] When walking, the baffle 15 can provide safety protection for the electronic equipment on the upper end surface of the walking device 1 to prevent the electronic equipment from being damaged by falling objects from a height, and when the baffle 15 is hit, the baffle 15 can transmit the force to the connecting rod 14, so that the connecting rod 14 slides inside the connecting sleeve 12 and squeezes the buffer spring 13. The elasticity of the buffer spring 13 can absorb and buffer the force, thereby preventing the vibration generated by the force from affecting the normal operation of the electronic equipment. When sampling is required, the motor 18 can drive the second screw 17 to rotate The second screw 17 drives the moving block 20 to move by cooperating with the second limiting rod 19. The moving block 20 can drive the two clamping plates 23 to move up and down when moving. Then the two electric push rods 22 can respectively drive the clamping plates 23 on both sides to move towards each other, so that the two clamping plates 23 can clamp and sample objects of different sizes through the anti-slip tooth plates 24. The anti-slip tooth plates 24 can increase the friction with the outer wall of the object, thereby increasing the clamping effect. Driven by the second screw 17, the two clamping plates 23 can clamp objects at different positions.

[0027] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling, comprising a walking device (1), characterized in that: The upper end surface of the walking device (1) is slidably mounted with a storage battery (2); the upper end surface of the walking device (1) is rotatably mounted with a first screw rod (3) through a movable groove; the outer wall of the first screw rod (3) is fixedly mounted with a rocker wheel (4); the outer wall of the first screw rod (3) is threadedly mounted with two moving sleeves (6) through a limiting mechanism; the upper end surfaces of the two moving sleeves (6) are fixedly connected with a fixing plate (8) through a connecting mechanism; the upper end surface of the storage battery (2) is fixedly mounted with a camera (9) and a radiation monitoring device (10); the upper end surface of the walking device (1) is fixedly mounted with a control terminal device (11); the upper end surface of the walking device (1) is fixedly mounted with two connecting sleeves (12); the interiors of the two connecting sleeves (12) are slidably mounted with a connecting rod (14) through a buffer mechanism; the outer wall of the walking device (1) is rotatably mounted with a second screw rod (17) through a lifting frame (16); A motor (18) connected to a second screw rod (17) is fixedly mounted on the upper end surface of the lifting frame (16); a moving block (20) is threadedly mounted on the outer wall of the second screw rod (17); a second limiting rod (19) is fixedly mounted inside the lifting frame (16); the second limiting rod (19) slides through the moving block (20); a connecting frame (21) is fixedly mounted on the end of the moving block (20); both inner walls of the connecting frame (21) are fixedly connected to clamping plates (23) via telescopic mechanisms; anti-slip tooth plates (24) are fixedly mounted on the inner walls of the two clamping plates (23); two lighting lamps (25) are fixedly mounted on the outer wall of the walking device (1); and the storage battery (2) is electrically connected to the walking device (1), the camera (9), the radiation monitoring device (10), the control terminal device (11), the motor (18), the electric push rod (22) and the lighting lamp (25), respectively.

2. The hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling according to claim 1 is characterized in that: The limiting mechanism comprises a first limiting rod (5) fixedly mounted inside the movable groove, wherein the first limiting rod (5) slides through two movable sleeves (6).

3. The hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling according to claim 2 is characterized in that: The connection mechanism comprises a connection rod (7) fixedly mounted on the upper end surface of the moving sleeve (6), and the end of the connection rod (7) is fixedly connected to the outer wall of the fixed plate (8).

4. The hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling according to claim 3 is characterized in that: The buffer mechanism comprises a buffer spring (13) fixedly mounted inside the connection sleeve (12), and two ends of the buffer spring (13) are elastically connected to the inner wall of the connection sleeve (12) and the bottom wall of the connecting rod (14) respectively.

5. The hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling according to claim 4 is characterized in that: The telescopic mechanism comprises an electric push rod (22) fixedly mounted on the inner wall of the connection frame (21), and the telescopic end of the electric push rod (22) is fixedly connected to the outer wall of the clamping plate (23).

6. The hydraulic quadruped robot for nuclear emergency radiation detection and radioactive area inspection and sampling according to claim 5 is characterized in that: The ends of the two connecting rods (14) are commonly and fixedly connected with a baffle (15), and the baffle (15) is galvanized.

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