Radioactive sampling manipulator for nuclear waste barrel

Abstract

The utility model provides a radioactive sampling manipulator for a nuclear waste barrel, and belongs to the technical field of radioactive detection sampling. The radioactive sampling manipulator for the nuclear waste barrel comprises a mechanical arm, a connecting base installed at the front end of the mechanical arm and a sampling head arranged on the connecting base and used for fixing sampling paper, and the sampling head comprises a base plate, a paper supporting part fixedly arranged on the front side face of the base plate and clamping plates arranged on the two sides of the paper supporting part. The two clamping plates are matched with the two sides of the paper support part through relative movement to clamp the two ends of the sampling paper, and the paper support part is provided with a round face located at the front end and first planes arranged at the two ends of the round face. The sampling device has the advantages of high sampling automation degree, high efficiency and high sampling paper utilization rate in radioactive detection of the nuclear waste barrel.

Description

Technical Field

[0001] This utility model relates to the field of radioactive detection and sampling technology, specifically to a radioactive sampling robot for nuclear waste containers. Background Technology

[0002] Currently, in the radioactivity detection of nuclear waste containers, the sampling process of the container walls mainly relies on manual labor, which is not only time-consuming and laborious, but also inefficient. In addition, the sampling results are unstable, and personnel are susceptible to radioactive harm, posing certain safety hazards. In view of this, this application provides a radioactivity sampling robot for nuclear waste containers. Utility Model Content

[0003] To solve the above-mentioned technical problems, this utility model proposes a radioactive sampling robot for nuclear waste containers.

[0004] The technical solution of this utility model is implemented as follows:

[0005] A radioactive sampling manipulator for nuclear waste containers includes a robotic arm, a connecting seat mounted at the front end of the robotic arm, and a sampling head disposed on the connecting seat for fixing sampling paper. The sampling head includes a base plate, a paper holder portion fixedly disposed on the front side of the base plate, and clamping plates disposed on both sides of the paper holder portion. The two clamping plates move relative to each other to clamp the two ends of the sampling paper together with the two sides of the paper holder portion. The paper holder portion has a circular surface at the front end and a first plane disposed at both ends of the circular surface.

[0006] Preferably, the substrate is mounted on the connector in a swinging manner perpendicular to the length direction of the paper tray portion, and when the substrate swings to the right or left, the intersection of the circular surface and the right first plane or the intersection of the circular surface and the left first plane forms a first sampling area and a second sampling area facing forward.

[0007] Preferably, the middle part of the rear side of the substrate is rotatably connected to the connecting seat via a pivot, and longitudinal elastic telescopic rods are rotatably connected between the left and right sides of the rear side of the substrate and the front side of the connecting seat.

[0008] Preferably, the clamping plate is connected to a displacement plate via a lateral elastic telescopic rod, and the displacement plate is mounted on the base plate with lateral displacement capability.

[0009] Preferably, an electric push rod is mounted on the rear side of the substrate, and the displacement plate is connected to the extended end of the electric push rod.

[0010] Preferably, a groove is provided on one side of the front end of the circular surface, the groove being located between the first sampling area and the second sampling area. A cutting blade is provided on the front end of the inner wall of the groove near the middle of the circular surface. The front side of the cutting blade is configured as an arc shape adapted to the circular surface. A pressure plate is rotatably mounted on the substrate. The pressure plate achieves the cutting blade cutting the sampling paper by pressing the sampling paper at the front end of the circular surface into the groove.

[0011] Preferably, the front end face of the pressure plate is configured as an arc surface adapted to the circular surface, and both ends of the pressure plate are fixedly connected to swing plates. The swing plates are rotatably mounted on the end face of the paper tray part, and the rear end of the swing plate is connected to a displacement plate that is far from the groove through a connecting plate. The connecting plate is used to drive the swing plate to swing.

[0012] Preferably, the swing plate is provided with a strip groove, a roller is slidably disposed in the strip groove, and the roller is mounted on one end of the connecting plate.

[0013] Preferably, the clamping plate includes a second plane for pressing the sampling paper onto the first plane, an inclined surface extending outward from the rear end of the second plane, and a third plane extending outward from the outer end of the inclined surface, wherein the third plane is perpendicular to the second plane, wherein the displacement plate connected to the connecting plate is rotatably connected to the transverse elastic telescopic rod on the same side of the third plane, the third plane extends downward to a top plate, and a top rod is provided on the inner surface of the displacement plate on the same side as the top plate, the top rod driving the clamping plate on this side to rotate backward and disengage from the sampling paper by pressing the top plate inward.

[0014] Preferably, when the pressure plate enters the groove, the top rod presses the top plate inward.

[0015] This utility model has the following beneficial effects:

[0016] 1. This application achieves sampling for radioactive detection of nuclear waste containers by setting the sampling head on a robotic arm and using the cooperation between the paper holder and the clamp to clamp and fix the sampling paper. The sampling paper is released by the clamp to facilitate its detachment from the sampling head. This method has a high degree of automation and improves the sampling efficiency for radioactive detection of nuclear waste containers.

[0017] 2. This application uses the swinging of the base to create a first sampling area and a second sampling area on the sampling paper. By switching between the first sampling area and the second sampling area, one sampling paper can be used to perform two sample samplings, thereby improving the utilization rate of the sampling paper. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of Embodiment 1 of the present utility model;

[0019] Figure 2This is a schematic diagram of the sampling head in Embodiment 2 of this utility model;

[0020] Figure 3 This is a utility model Figure 2 Enlarged view of point A in the middle;

[0021] Figure 4 This is a utility model Figure 2 Enlarged view at point B in the middle;

[0022] Figure 5 This is a utility model Figure 2 Enlarged view at point C;

[0023] Figure 6 This is a schematic diagram of the paper tray part of this utility model;

[0024] Figure 7 This is a schematic diagram of the pressure plate and swing arm of this utility model.

[0025] In the diagram: 1. Robotic arm; 2. Connecting seat; 3. Base plate; 4. Paper tray part; 4.1. Circular surface; 4.2. First plane; 5. Clamping plate; 5.1. Second plane; 5.2. Third plane; 6. First sampling area; 7. Second sampling area; 8. Longitudinal elastic telescopic rod; 9. Displacement plate; 10. Electric push rod; 11. Groove; 12. Cutting knife; 13. Pressure plate; 14. Swing plate; 15. Connecting plate; 16. Strip groove; 17. Roller; 18. Top plate; 19. Top rod; 20. Lateral elastic telescopic rod. Detailed Implementation

[0026] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] refer to Figure 1 As shown in the figure, the radioactive sampling manipulator for nuclear waste bins provided in this embodiment includes a robotic arm 1, a connecting seat 2 installed at the front end of the robotic arm 1, and a sampling head disposed on the connecting seat 2 for fixing sampling paper. The sampling head includes a base plate 3, a paper holder portion 4 fixedly disposed on the front side of the base plate 3, and clamping plates 5 disposed on both sides of the paper holder portion 4. The two clamping plates 5 move relative to each other to cooperate with the two sides of the paper holder portion 4 to clamp the two ends of the sampling paper. The paper holder portion 4 has a circular surface 4.1 located at the front end and a first plane 4.2 disposed at both ends of the circular surface 4.1.

[0028] refer to Figures 2 to 7As shown, in Embodiment 2, the substrate 3 is mounted on the connecting seat 2 in a swinging manner perpendicular to the length direction of the paper tray portion 4. When the substrate 3 swings to the right or left, the first sampling area 6 and the second sampling area 7 are formed at the junction of the circular surface 4.1 and the right first plane 4.2 or the junction of the circular surface 4.1 and the left first plane 4.2.

[0029] During the sampling operation of the nuclear waste container, the rotation of robotic arm 1, in conjunction with the rotation direction of the nuclear waste container, ensures that the first sampling area 6 contacts the container wall, achieving the first use of the sampling paper. After sampling is completed in the first sampling area 6, the sample taken in the first sampling area 6 is subjected to radioactivity testing. Then, the rotation of robotic arm 1 adjusts the orientation of the first sampling area 6 and the second sampling area 7, ensuring that the second sampling area 7 contacts the container wall, achieving a second sampling with the sampling paper. Thus, through the above setup, a single sampling paper can be used for two sampling operations, improving the utilization rate of the sampling paper.

[0030] The center of the rear side of the substrate 3 is rotatably connected to the connecting seat 2 via a pivot, and longitudinal elastic telescopic rods 8 are rotatably connected between the left and right sides of the rear side of the substrate 3 and the front side of the connecting seat 2. By setting two longitudinal elastic telescopic rods 8, the sampling head can be kept in a centered position on the connecting seat 2 in the initial state. At this time, the tip of the circular surface 4.1 is in a forward position, and the paper holder part 4 is in a forward position, which makes it easier to add sampling paper.

[0031] Furthermore, when the paper tray portion 4 is in the forward position, the two longitudinal elastic telescopic rods 8 are in a parallel position. Therefore, during the swinging process of the sampling head, the two longitudinal elastic telescopic rods 8 can limit the deflection angle of the sampling head by utilizing their own extension and contraction strokes and the eccentric state with the sampling head. This ensures that when the sampling head deflects to the right or left to the maximum angle, the paper tray portion 4 is in the forward position of the first sampling area 6 or the second sampling area 7. This ensures that when the sampling paper comes into contact with the nuclear waste container, the first sampling area 6 or the second sampling area 7 stably contacts the wall of the nuclear waste container during the rotation of the container, thereby improving sampling accuracy.

[0032] The clamping plate 5 is connected to the displacement plate 9 via a transverse elastic telescopic rod 20. The displacement plate 9 is mounted on the base plate 3 and can be moved laterally. As the displacement plate 9 moves toward the paper holder portion 4, the transverse elastic telescopic rod 20 drives the clamping plate 5 to press the end of the sampling paper onto the first plane 4.2. As the displacement plate 9 continues to move, the transverse elastic telescopic rod 20 is compressed, increasing the stability of pressing the sampling paper onto the first plane 4.2.

[0033] An electric push rod 10 is mounted on the rear side of the substrate 3, and a displacement plate 9 is connected to the extended end of the electric push rod 10. The electric telescopic rod controls the clamping plate 5 to press or release the sampling paper by extending or retracting its extended end.

[0034] A groove 11 is provided on one side of the front end of the circular surface 4.1. The groove 11 is located between the first sampling area 6 and the second sampling area 7. A cutting blade 12 is provided on the front end of the inner wall of the groove 11 near the middle of the circular surface 4.1. The front side of the cutting blade 12 is set into an arc shape that matches the circular surface 4.1. A pressure plate 13 is rotatably mounted on the substrate 3. The pressure plate 13 cuts the sampling paper by pressing the sampling paper at the front end of the circular surface 4.1 into the groove 11.

[0035] After the sampling paper has been sampled and tested once, the pressure plate 13 moves into the groove 11, pressing the portion of the sampling paper located between the first sampling area 6 and the second sampling area 7, corresponding to the slot opening of the groove 11, into the groove 11. During this pressing process, the pressure plate 13 presses the sampling paper onto the blade of the cutter 12, causing the cutter 12 to cut the sampling paper. Simultaneously, the sampling paper corresponding to the second sampling area 7, located on one side of the groove 11, is pressed tightly into the groove 11 by the cooperation of the pressure plate 13 and the groove 11, thus clamping and fixing the remaining sampling paper for subsequent sampling.

[0036] The front end face of the pressure plate 13 is set as an arc surface that matches the circular surface 4.1. Both ends of the pressure plate 13 are fixedly connected to the swing plate 14. The swing plate 14 is rotatably mounted on the end face of the paper tray part 4. The rear end of the swing plate 14 is connected to a displacement plate 9 that is far from the groove 11 through a connecting plate 15. The connecting plate 15 is used to drive the swing plate 14 to swing.

[0037] The displacement plate 9, connected to the connecting plate 15, moves inward, causing the connecting plate 15 to move inward as well. The connecting plate 15 drives the swing plate 14 to swing, and the swing plate 14 drives the pressure plate 13 to rotate and enter the groove 11. In the initial state, the pressure plate 13 is located outside the paper tray portion 4 to prevent it from affecting the placement of the sampling paper and the sampling operation.

[0038] Specifically, the swing plate 14 is provided with a strip groove 16, and a roller 17 is slidably disposed in the strip groove 16, with the roller 17 mounted on one end of the connecting plate 15. During the displacement process, the connecting plate 15 drives the swing rod to swing through the displacement of the roller 17 in the strip groove 16.

[0039] The clamping plate 5 includes a second plane 5.1 for pressing the sampling paper onto the first plane 4.2, an inclined surface extending outward from the rear end of the second plane 5.1, and a third plane 5.2 extending outward from the outer end of the inclined surface, with the third plane 5.2 perpendicular to the second plane 5.1. The displacement plate 9, connected to the connecting plate 15, is rotatably connected to the transverse elastic telescopic rod 20 on the same side of the third plane 5.2. A top plate 18 extends downward from the third plane 5.2. A top rod 19 is provided on the inner surface of the displacement plate 9, which is on the same side as the top plate 18. The top rod 19 drives the clamping plate 5 on this side to rotate backward and disengage from the sampling paper by pressing the top plate 18 inward. When the pressure plate 13 enters the groove 11, the top rod 19 presses the top plate 18 inward.

[0040] During the clamping process, the clamping plate 5, which is rotatably connected to the transverse elastic telescopic rod 20, can stably press the sampling paper by utilizing eccentricity. While the cutting blade 12 is cutting the sampling paper, the inner end of the clamping plate 5 swings backward, and the transverse elastic telescopic rod 20 is continuously compressed. At this time, the portion of the cut sampling paper corresponding to the first sampling is extracted and detached from the paper holder 4, thus removing this portion of the sampling paper to prevent it from affecting the detection after the second sampling.

[0041] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A radioactive sampling manipulator for nuclear waste containers, comprising a robotic arm (1), a connecting seat (2) mounted on the front end of the robotic arm (1), and a sampling head disposed on the connecting seat (2) for fixing sampling paper, characterized in that, The sampling head includes a base plate (3), a paper tray portion (4) fixedly disposed on the front side of the base plate (3), and clamping plates (5) disposed on both sides of the paper tray portion (4). The two clamping plates (5) move relative to each other to clamp the two ends of the sampling paper in conjunction with the two sides of the paper tray portion (4). The paper tray portion (4) has a circular surface (4.1) located at the front end and a first plane (4.2) disposed at both ends of the circular surface (4.1).

2. The radioactive sampling manipulator for nuclear waste containers as described in claim 1, characterized in that, The substrate (3) is mounted on the connector (2) in a swinging manner perpendicular to the length of the paper tray portion (4). When the substrate (3) swings to the right or left, the intersection of the circular surface (4.1) and the right first plane (4.2) or the intersection of the circular surface (4.1) and the left first plane (4.2) forms a first sampling area (6) and a second sampling area (7) facing forward.

3. The radioactive sampling manipulator for nuclear waste containers as described in claim 2, characterized in that, The middle part of the rear side of the substrate (3) is rotatably connected to the connecting seat (2) via a rotating shaft, and longitudinal elastic telescopic rods (8) are rotatably connected between the left and right sides of the rear side of the substrate (3) and the front side of the connecting seat (2).

4. The radioactive sampling manipulator for nuclear waste containers as described in claim 2, characterized in that, The clamping plate (5) is connected to a displacement plate (9) via a transverse elastic telescopic rod (20), and the displacement plate (9) is mounted on the base plate (3) with transverse displacement capability.

5. A radioactive sampling manipulator for nuclear waste containers as described in claim 4, characterized in that, An electric push rod (10) is mounted on the rear side of the substrate (3), and the displacement plate (9) is connected to the extended end of the electric push rod (10).

6. The radioactive sampling manipulator for nuclear waste containers as described in claim 4, characterized in that, A groove (11) is provided on one side of the front end of the circular surface (4.1). The groove (11) is located between the first sampling area (6) and the second sampling area (7). A cutting blade (12) is provided on the front end of the inner wall of the groove (11) near the middle of the circular surface (4.1). The front side of the cutting blade (12) is set into an arc shape that matches the circular surface (4.1). A pressure plate (13) is rotatably mounted on the substrate (3). The pressure plate (13) cuts the sampling paper by pressing the sampling paper at the front end of the circular surface (4.1) into the groove (11).

7. A radioactive sampling manipulator for nuclear waste containers as described in claim 6, characterized in that, The front end face of the pressure plate (13) is set as an arc surface that is compatible with the circular surface (4.1). Both ends of the pressure plate (13) are fixedly connected to the swing plate (14). The swing plate (14) is rotatably mounted on the end face of the paper tray part (4). The rear end of the swing plate (14) is connected to a displacement plate (9) that is far from the groove (11) through a connecting plate (15). The connecting plate (15) is used to drive the swing plate (14) to swing.

8. A radioactive sampling manipulator for nuclear waste containers as described in claim 7, characterized in that, The swing plate (14) is provided with a strip groove (16), and a roller (17) is slidably disposed in the strip groove (16), and the roller (17) is mounted on one end of the connecting plate (15).

9. A radioactive sampling manipulator for nuclear waste containers as described in claim 7, characterized in that, The clamping plate (5) includes a second plane (5.1) for pressing the sampling paper onto the first plane (4.2), an inclined surface extending outward from the rear end of the second plane (5.1), and a third plane (5.2) extending outward from the outer end of the inclined surface. The third plane (5.2) is perpendicular to the second plane (5.1). The displacement plate (9) connected to the connecting plate (15) is rotatably connected to the transverse elastic telescopic rod (20) on the same side of the third plane (5.2). A top plate (18) extends downward from the third plane (5.2). A top rod (19) is provided on the inner surface of the displacement plate (9) on the same side as the top plate (18). The top rod (19) drives the clamping plate (5) on this side to rotate backward and disengage from the sampling paper by pressing the top plate (18) inward.

10. A radioactive sampling manipulator for nuclear waste containers as described in claim 9, characterized in that, When the pressure plate (13) enters the groove (11), the top rod (19) presses the top plate (18) inward.

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