A nuclear radiation detection robot

Abstract

This utility model relates to the field of nuclear radiation detection equipment technology, specifically a nuclear radiation detection robot, comprising: a robot body, the robot body including a chassis, functional components on the top of the chassis, and track drive components and liftable omnidirectional wheel drive components on both sides of the chassis. This utility model, by setting up track drive components and omnidirectional wheel drive components, utilizes a lifting frame in conjunction with a first telescopic rod to control the lifting of the omnidirectional wheels, balancing obstacle avoidance capability and flexibility; the lifting frame adopts a parallelogram design, which can balance stability and spatial flexibility, avoiding the center of gravity shift problem of traditional lifting frames.

Description

Technical Field

[0001] This utility model relates to the field of nuclear radiation detection equipment technology, specifically a nuclear radiation detection robot. Background Technology

[0002] Radiation detection robots are mobile platforms used in high-risk areas such as nuclear power plants and nuclear waste treatment plants to perform radiation monitoring, equipment inspection, or emergency response. They have high requirements in terms of adaptability to various terrains, radiation resistance, and control precision.

[0003] Currently, the mainstream drive methods for radiation detection robots are tracked and wheeled. Tracked robots have strong obstacle-crossing capabilities, but they are slower, consume more energy, and have greater friction with the ground when turning on the spot, resulting in more noise. Wheeled robots have advantages in movement and turning speed, but their turning radius is larger than that of tracked robots. Pure tracked or pure wheeled structures make it difficult to balance flexibility and obstacle-crossing ability. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a nuclear radiation detection robot.

[0005] The technical solution of this utility model is:

[0006] A nuclear radiation detection robot, comprising:

[0007] The robot body includes a chassis, a functional component on the top of the chassis, and track drive components and liftable omnidirectional wheel drive components on both sides of the chassis.

[0008] The track drive assembly includes a plurality of drive wheels, the outer side of which is covered by a track, and the front and rear ends of the track are inclined upward at 20-40°.

[0009] The omnidirectional wheel drive assembly includes at least four omnidirectional wheels, which are driven by built-in hub motors. The omnidirectional wheels are mounted in pairs on a lifting frame via shock-absorbing suspension. The lifting frame has a parallelogram design and is driven by a first telescopic rod. When the first telescopic rod is in operation, it enables the omnidirectional wheels to move in the vertical direction.

[0010] Preferably, a control box is provided at the center of the top surface of the chassis. The control box is made of nuclear radiation shielding material and is used to install a control module for controlling the operation of the track drive assembly, the omnidirectional wheel drive assembly, and the functional components.

[0011] Preferably, a control cable is provided on the rear side of the control box. The control cable is used to communicate with external devices and provide power to the robot. A backup power supply is provided in the chassis for emergency power supply.

[0012] Preferably, the drive wheel includes a driving wheel, a driven wheel, and several support wheels. The driving wheel is connected to a power source, which drives the driving wheel to rotate. Each support wheel is connected to the chassis via an independent suspension.

[0013] Preferably, the lifting frame includes a T-shaped frame, the omnidirectional wheels are located at both ends of the crossbar of the T-shaped frame, and the vertical bar of the T-shaped frame is rotatably connected to the control box through two parallel H-shaped brackets.

[0014] Preferably, the head of the first telescopic rod is rotatably connected to the head of the upper H-shaped bracket, and the tail is rotatably connected to the control box.

[0015] Preferably, the shock-absorbing suspension includes two triangular plates. The first end of the triangular plate is rotatably connected to the axle of the omnidirectional wheel, the second end is rotatably connected to the crossbar of the T-shaped frame, and the third end is rotatably connected to a second shock absorber. The tail of the second shock absorber is rotatably connected to the vertical bar of the T-shaped frame.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] This utility model, by setting up a track drive assembly and an omnidirectional wheel drive assembly, uses a lifting frame in conjunction with a first telescopic rod to control the lifting of the omnidirectional wheel, taking into account both obstacle avoidance capability and flexibility; the lifting frame adopts a parallelogram design, which can take into account both stability and spatial flexibility, and avoid the problem of center of gravity shift in traditional lifting frames. Attached Figure Description

[0018] Figure 1 This is an isometric view of the overall structure of this utility model;

[0019] Figure 2 This is a side view of the overall structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the cross-sectional structure of the robot in this utility model;

[0021] Figure 4 This is a schematic diagram of the unfolded state of the second moving component structure in this utility model;

[0022] Figure 5 This is a schematic diagram of the retracted state of the second movable component structure in this utility model.

[0023] The meanings of the labels in the diagram are as follows:

[0024] 1. Robot body; 11. Chassis; 12. Control box; 13. Camera assembly; 14. Control cables; 15. Robotic arm; 16. Backup power supply;

[0025] 2. Track drive assembly; 21. Drive sprocket; 22. Driven sprocket; 23. Track roller; 24. Independent suspension; 25. Track; 26. Power source;

[0026] 3. Omnidirectional wheel drive assembly; 31. Omnidirectional wheel; 32. Triangular plate; 33. T-shaped bracket; 34. Second shock absorber; 35. H-shaped bracket; 36. First telescopic rod. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] Example 1:

[0029] Please see Figure 1-5 The present invention will describe the above technical solution in detail through the following embodiments:

[0030] A nuclear radiation detection robot, comprising:

[0031] The robot body 1 includes a chassis 11, a functional component on the top of the chassis 11, and track drive components 2 and liftable omnidirectional wheel drive components 3 on both sides of the chassis 11.

[0032] The functional components include a camera assembly 13 and a robotic arm 15. The camera assembly 13 uses a radiation-resistant camera, and the robotic arm 15 is used to perform the grasping function. Radiation detection equipment or other equipment can be installed on the robotic arm 15 as needed for the task.

[0033] The track drive assembly 2 includes several drive wheels, with a track 25 wrapped around the outside of the drive wheels. The front and rear ends of the track 25 are inclined upward at 20-40°.

[0034] The track drive assembly 2 is used for the robot to move in sandy, muddy or obstacle environments. The front and rear ends of the track 25 are tilted upwards, which makes it easier for the robot to climb slopes.

[0035] Track 25 requires the use of radiation-resistant materials.

[0036] The omnidirectional wheel drive assembly 3 includes at least four omnidirectional wheels 31. The omnidirectional wheels 31 are driven by built-in hub motors. The two omnidirectional wheels 31 are mounted on a lifting frame by a shock-absorbing suspension. The lifting frame adopts a parallelogram design and is driven by a first telescopic rod 36. When the first telescopic rod 36 is working, it can make the omnidirectional wheels 31 move in the vertical direction.

[0037] The omnidirectional wheel 31 uses Mecanum wheels, and by controlling the rotation speed and steering of the four omnidirectional wheels 31, it is possible to turn in place and move laterally.

[0038] The built-in hub motor drive simplifies the structure and reduces the overall weight. In addition, replacing the omnidirectional wheel 31 hub with radiation shielding material can improve the service life of the motor.

[0039] A control box 12 is located in the center of the top surface of the chassis 11. The control box 12 is made of nuclear radiation shielding material and is used to install control modules inside, which are used to control the operation of the track drive assembly 2, the omnidirectional wheel drive assembly 3 and the functional components.

[0040] The control box 12 is equipped with a control cable 14 at the rear. The control cable 14 is used to communicate with external devices and provide power to the robot. The chassis 11 is equipped with a backup power supply 16 for emergency power supply.

[0041] The control cable 14 is stored using a known self-winding reel and is wound up using a spiral spring, which ensures cable tension.

[0042] The backup power supply 16 uses a battery to provide emergency power in case the control cable 14 is accidentally disconnected.

[0043] The drive wheel includes a drive wheel 21, a driven wheel 22 and several support wheels 23. The drive wheel 21 is connected to a power source 26, which drives the drive wheel 21 to rotate. Each support wheel 23 is connected to the chassis 11 by an independent suspension 24.

[0044] The power source 26 uses an electric motor. The output shaft of the power source 26 is connected to the drive wheel 21. The power source 26 is fixedly installed inside the chassis 11 by screws. Each power source 26 drives one drive wheel 21.

[0045] The height of the driving wheel 21 is the same as the height of the driven wheel 22.

[0046] The independent suspension 24 uses damping shock absorbers, and each support wheel 23 uses individual shock absorbers, which can improve stability when passing through obstacles.

[0047] The lifting frame includes a T-shaped frame 33, with omnidirectional wheels 31 located at both ends of the horizontal bar of the T-shaped frame 33. The vertical bar of the T-shaped frame 33 is rotatably connected to the control box 12 through two parallel H-shaped brackets 35.

[0048] The H-shaped bracket 35 is arranged in parallel, which ensures that the T-shaped bracket 33 moves in the vertical direction when rotating.

[0049] The head of the first telescopic rod 36 is rotatably connected to the head of the upper H-shaped bracket 35, and the tail is rotatably connected to the control box 12.

[0050] The first telescopic rod 36 is an electric push rod. It should be noted that the moving parts of the first telescopic rod 36 need to be protected against radiation to prevent radiation dust from entering the moving parts.

[0051] The shock-absorbing suspension includes two triangular plates 32. The first end of the triangular plate 32 is rotatably connected to the axle of the omnidirectional wheel 31, the second end is rotatably connected to the crossbar of the T-shaped frame 33, and the third end is rotatably connected to a second shock absorber 34. The tail of the second shock absorber 34 is rotatably connected to the vertical bar of the T-shaped frame 33.

[0052] The second shock absorber 34 adopts damping shock absorption. The second shock absorber 34, together with the triangular plate 32, can achieve individual shock absorption of the omnidirectional wheel 31.

[0053] Working principle:

[0054] On flat or narrow road sections, the omnidirectional wheel drive assembly 3 is used for movement.

[0055] The first telescopic rod 36 is extended, driving the H-shaped bracket 35 to rotate downwards, thereby driving the T-shaped frame 33 to descend, so that the omnidirectional wheel 31 contacts the ground, until the H-shaped bracket 35 is in a horizontal state, at which point the track drive assembly 2 is lifted off the ground.

[0056] The omnidirectional wheel 31 is driven to rotate by the hub motor built into it. When the four omnidirectional wheels 31 rotate at the same speed, the robot moves forward in the direction of the wheel rotation.

[0057] When the left wheel turns forward and the right wheel turns backward at the same speed, the robot turns right in place; when the left wheel turns backward and the right wheel turns forward at the same speed, the robot turns left.

[0058] When the front wheel turns backward and the rear wheel turns forward at the same speed, the robot moves horizontally to the left; when the front wheel turns forward and the rear wheel turns backward at the same speed, the robot moves horizontally to the right.

[0059] When encountering obstacles, gravel, uneven terrain, or sections requiring climbing, the first telescopic rod 36 is shortened, the H-shaped bracket 35 rotates upward, thereby driving the T-shaped frame 33 to rise, causing the omnidirectional wheel 31 to leave the ground, at which point the track drive assembly 2 contacts the ground.

[0060] By controlling the operation of the two power sources 26, the drive wheel 21 can be driven to rotate, thereby driving the track 25 to rotate, thus enabling the robot to move.

[0061] By controlling the two power sources 26 to output different power, the robot can be turned.

[0062] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A nuclear radiation detection robot characterized by, include: The robot body (1) includes a chassis (11), the top of the chassis (11) is provided with functional components, and the sides of the chassis (11) are provided with track drive components (2) and liftable omnidirectional wheel drive components (3). The track drive assembly (2) includes several drive wheels, and the drive wheels are wrapped with tracks (25). The front and rear ends of the tracks (25) are inclined upward at 20-40°. The omnidirectional wheel drive assembly (3) includes at least four omnidirectional wheels (31). The omnidirectional wheels (31) are driven by a built-in hub motor. The omnidirectional wheels (31) are mounted on a lifting frame in pairs via shock-absorbing suspension. The lifting frame adopts a parallelogram design and is driven by a first telescopic rod (36). When the first telescopic rod (36) is working, it can make the omnidirectional wheels (31) move in the vertical direction.

2. A nuclear radiation detection robot as claimed in claim 1, characterized in that: The chassis (11) has a control box (12) at the center of its top surface. The control box (12) is made of nuclear radiation shielding material and is used to install control modules inside to control the operation of the track drive assembly (2), the omnidirectional wheel drive assembly (3) and the functional components.

3. A nuclear radiation detection robot as claimed in claim 2, characterized in that: The control box (12) is equipped with a control cable (14) on the rear side. The control cable (14) is used to communicate with external devices and provide power to the robot. The chassis (11) is equipped with a backup power supply (16) for emergency power supply.

4. The nuclear radiation detection robot of claim 1, wherein: The drive wheel includes a drive wheel (21), a driven wheel (22) and several support wheels (23). The drive wheel (21) is connected to a power source (26), which is used to drive the drive wheel (21) to rotate. Each support wheel (23) is connected to the chassis (11) by an independent suspension (24).

5. The nuclear radiation detection robot of claim 1, wherein: The lifting frame includes a T-shaped frame (33), the omnidirectional wheels (31) are located at both ends of the crossbar of the T-shaped frame (33), and the vertical bar of the T-shaped frame (33) is rotatably connected to the control box (12) through two parallel H-shaped brackets (35).

6. A nuclear radiation detection robot as claimed in claim 5, characterised in that: The head of the first telescopic rod (36) is rotatably connected to the head of the upper H-shaped bracket (35), and the tail is rotatably connected to the control box (12).

7. A nuclear radiation detection robot as claimed in claim 5, wherein: The shock-absorbing suspension includes two triangular plates (32). The first end of the triangular plate (32) is rotatably connected to the axle of the omnidirectional wheel (31), the second end is rotatably connected to the crossbar of the T-shaped frame (33), and the third end is rotatably connected to a second shock absorber (34). The tail of the second shock absorber (34) is rotatably connected to the vertical bar of the T-shaped frame (33).

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