阅读说明：本技术 一种辐射测量爬壁机器人 (Radiation measurement wall-climbing robot ) 是由 张文佳 唐坡 马永红 岳麒 徐立国 黄斌 田秋香 张靖波 于 2019-09-27 设计创作，主要内容包括：本发明公开了一种辐射测量爬壁机器人,其包括外壳体,外壳体的底部开口,外壳体内设置有推进机构和吸附机构,外壳体上安装有前、后两个摄像头,外壳体的侧壁上通过不锈钢架安装有核辐射测量探头；外壳体上设置有走线机构,核辐射测量探头通过探头模块与控制器电连接,两个摄像头与控制器电连接。本发明利用爬壁机器人携带核辐射测量探头,通过投放装置将本方案的爬壁机器人投放至贮罐侧壁附近,到达贮罐侧壁,通过远程遥控器操作机器人在金属罐体侧壁爬行,到达所需测量位置展开测量,完成封闭式的放射性废液贮罐外表面的辐射水平测量,减少现场作业人员的放射性受照量。(The invention discloses a radiation measurement wall-climbing robot, which comprises an outer shell, wherein the bottom of the outer shell is provided with an opening, a propelling mechanism and an adsorption mechanism are arranged in the outer shell, a front camera and a rear camera are arranged on the outer shell, and a nuclear radiation measurement probe is arranged on the side wall of the outer shell through a stainless steel frame; the shell is provided with a wiring mechanism, the nuclear radiation measuring probe is electrically connected with the controller through the probe module, and the two cameras are electrically connected with the controller. The nuclear radiation measuring probe is carried by the wall-climbing robot, the wall-climbing robot is thrown to the position near the side wall of the storage tank through the throwing device and reaches the side wall of the storage tank, the robot is operated by the remote controller to crawl on the side wall of the metal tank body and reach the required measuring position to perform measurement, the radiation level measurement of the outer surface of the closed radioactive waste liquid storage tank is completed, and the radioactive exposure of field operators is reduced.)

1. The radiation measurement wall-climbing robot is characterized by comprising an outer shell (2), wherein the bottom of the outer shell (2) is opened, a propelling mechanism and an adsorption mechanism (11) are arranged in the outer shell (2), a front camera (9) and a rear camera (9) are arranged on the outer shell (2), a nuclear radiation measurement probe (13) is arranged on the side wall of the outer shell (2) through a stainless steel frame (14), a connecting sheet in a splayed shape is arranged on the stainless steel frame (14), and the connecting sheet is fixedly connected with the outer shell (2); the cable laying mechanism is arranged on the outer shell (2) and comprises a fixing plate (17), a roller (16) is mounted on the fixing plate (17), a cable clamping plate (15) is arranged above the roller (16), and the cable clamping plate (15) is hinged to the fixing plate (17); a wiring barrel (19) is arranged at the front end of the roller (16), and the wiring barrel (19) is fixed on the fixing plate (17); the nuclear radiation measuring probe (13) is electrically connected with the controller through a probe module (8), and the two cameras (2) are electrically connected with the controller.

2. The radiometric wall-climbing robot according to claim 1, characterized in that the propulsion mechanism comprises four rollers (3), four rollers (3) are all fixed in the outer shell (2) through a bracket (6), the four rollers (3) are respectively installed at two ends of two rotating shafts, a roller motor (30) is installed on each rotating shaft, and the rotating shaft of the roller motor (30) is connected with one of the rollers (3).

3. The radiometric wall-climbing robot according to claim 2, characterized in that a belt pulley (5) is mounted on each roller (3), and the two belt pulleys (5) on the same side of the rotating shaft are connected by a belt (1).

4. The radiometric wall-climbing robot according to claim 1, characterized in that the adsorption mechanism (11) comprises a vacuum pump (27), an air outlet (28) in the vacuum pump (27) extends into the bottom of the outer casing (2), an air inlet of the vacuum pump (27) is connected with a centrifugal fan, and the centrifugal fan is connected with a rotating shaft of a driving motor; the vacuum pump (27) and the driving motor are both electrically connected with the controller.

5. The radiometric wall-climbing robot according to claim 4, characterized in that, the centrifugal fan includes an upper plate (25), the upper plate (25) is fixed on the rotating shaft of the driving motor through a gland nut (24) and an upper cover (18), an adsorption plate (26) is arranged below the upper plate (25), the adsorption plate (26) is connected with the upper plate (25) through a plurality of partition plates, a plurality of fan-shaped ventilation openings (29) are formed between the plurality of partition plates, and the ventilation openings (29) are communicated with the air inlet of the vacuum pump (27).

6. The radiometric wall-climbing robot according to claim 1, characterized in that the bottom edge of the outer shell (2) is provided with a sealing structure (4), the sealing structure (4) comprises a sealing skirt (22), the edge of the sealing skirt (22) is fixed at the bottom of the outer shell (2) through a sealing cloth bead and an "L" -shaped connecting bracket (21), the connecting bracket (21) is connected with the sealing cloth bead through a fixing screw, and the edge of the sealing skirt (22) extends to the periphery of the bottom of the outer shell (2).

7. The radiometric wall-climbing robot according to claim 6, characterized in that the edge of the sealing skirt (22) is wrapped with a ring of bakelite framework (20), and a ring of sponge (23) is arranged between the bottom of the bakelite framework (20) and the sealing skirt (22).

8. The radiometric wall-climbing robot of claim 1, wherein the controller is connected to a remote controller via a communication cable, the communication cable is wound around the drum (16) through a cable drum (19), the remote controller comprises an operator and a relay, a wireless receiving module is arranged on the relay, and the relay is connected to the operator via the communication cable; the operator comprises a speed gear knob, a negative pressure gear knob, a manual walking rocking handle, an automatic walking rocking handle and a display screen.

9. The radiometric wall-climbing robot according to claim 1, characterized in that a negative pressure sensor, a temperature acquisition sensor and a voltage monitoring module are arranged in the outer housing (2); the negative pressure sensor, the temperature acquisition sensor and the voltage monitoring module are all electrically connected with the controller.

Technical Field

The invention relates to the technical field of robots, in particular to a radiation measurement wall-climbing robot.

Background

The radioactive waste liquid storage tank is hermetically fixed in the equipment room, the outer shell of the equipment room is made of concrete, the inner wall of the equipment room is a stainless steel covering surface, and the distance (called as an interlayer) between the storage tank and the equipment room is about 700 mm. The radioactive irradiation in the narrow working space, uneven working surface and working place is the main reason for realizing the monitoring of the radiation level of the outer surface of the radioactive waste liquid storage tank, which can not be fixed and positioned all the time.

The robot is remotely controlled to crawl on the side wall of the metal tank body, and the robot reaches a required measuring position to be expanded and measured, so that the radiation level measurement of the outer surface of the closed radioactive waste liquid storage tank is completed, and the radioactive exposure of field operators can be effectively reduced.

Disclosure of Invention

In view of the above-mentioned deficiencies of the prior art, the present invention provides a wall-climbing robot for radiometric external surfaces of storage tank sources in radioactive sites.

In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:

the radiation measurement wall-climbing robot comprises an outer shell, wherein the bottom of the outer shell is provided with an opening, a propelling mechanism and an adsorption mechanism are arranged in the outer shell, a front camera and a rear camera are mounted on the outer shell, a nuclear radiation measurement probe is mounted on the side wall of the outer shell through a stainless steel frame, a connecting sheet in a splayed shape is arranged on the stainless steel frame, and the connecting sheet is fixedly connected with the outer shell; the outer shell is provided with a wiring mechanism, the wiring mechanism comprises a fixed plate, a roller is arranged on the fixed plate, a cable clamping plate is arranged above the roller, and the cable clamping plate is hinged on the fixed plate; the front end of the roller is provided with a wiring barrel which is fixed on the fixed plate; the nuclear radiation measuring probe is electrically connected with the controller through the probe module, and the two cameras are electrically connected with the controller.

Further, advancing mechanism includes four gyro wheels, and four gyro wheels are all fixed in the shell through the support, and four gyro wheels are installed respectively at the both ends of two pivots, all installs the gyro wheel motor in every pivot, and the pivot and one of them gyro wheel of gyro wheel motor are connected.

Furthermore, a belt pulley is mounted on each roller, and the belt pulleys on the same sides of the two rotating shafts are connected through a belt.

Furthermore, the adsorption mechanism comprises a vacuum pump, an air outlet in the vacuum pump extends into the bottom of the outer shell, an air inlet of the vacuum pump is connected with a centrifugal fan, and the centrifugal fan is connected with a rotating shaft of the driving motor; the vacuum pump and the driving motor are both electrically connected with the controller.

Further, centrifugal fan includes the upper plate, and the upper plate passes through gland nut and upper cover to be fixed in driving motor's pivot, and the upper plate below is provided with the adsorption plate, is connected through a plurality of baffles between adsorption plate and the upper plate, forms a plurality of sectorial vents between a plurality of baffles, and the vent switches on with the air inlet of vacuum pump.

Furthermore, the bottom edge of the outer shell is provided with a sealing structure, the sealing structure comprises a sealing skirt, the edge of the sealing skirt is fixed at the bottom of the outer shell through a sealing cloth pressing strip and an L-shaped connecting support, the connecting support is connected with the sealing cloth pressing strip through a fixing screw, and the edge of the sealing skirt extends towards the periphery of the bottom of the outer shell.

Furthermore, the edge of the sealing skirt is wrapped with a circle of bakelite framework, and a circle of sponge is arranged between the bottom of the bakelite framework and the sealing skirt.

Furthermore, the controller is connected with the remote controller through a communication cable, the communication cable penetrates through the wiring drum and is wound on the roller, the remote controller comprises an operator and a repeater, a wireless receiving module is arranged on the repeater, and the repeater is connected with the operator through the communication cable; the operator comprises a speed gear knob, a negative pressure gear knob, a manual walking rocking handle, an automatic walking rocking handle and a display screen.

Furthermore, a negative pressure sensor, a temperature acquisition sensor and a voltage monitoring module are arranged in the outer shell; the negative pressure sensor, the temperature acquisition sensor and the voltage monitoring module are all electrically connected with the controller.

The invention has the beneficial effects that: the invention utilizes the wall-climbing robot to carry the nuclear radiation measuring probe to reach the side wall of the storage tank, the robot is operated by the remote controller to climb on the side wall of the metal tank body and reach the required measuring position to carry out measurement, the radiation level measurement of the outer surface of the closed radioactive waste liquid storage tank is completed, and the radioactive exposure of field operation personnel is reduced. In the use, utilize supplementary input device to place the robot on jar side wall, adsorption apparatus constructs the surface of adsorbing whole robot in the waste liquid basin to realize advancing the action through advancing mechanism.

Meanwhile, the front camera and the rear camera can observe the environment around the robot in real time, so that the remote control of workers is facilitated; the nuclear radiation measuring probe is used for measuring the nuclear radiation amount of the area walked by the robot, and the position of the stainless steel frame on the robot can be adjusted through the connecting sheet. The communication cable accessible wiring section of thick bamboo and the cylinder that is connected with the robot gets into the dolly, and the communication cable is around on the cylinder, conveniently walks the line, avoids winding and hinders the dolly walking.

The wall climbing robot transmits the adsorption force to the roller through the body, and the friction force of the roller provides the power for the robot to move, so that the maximum output torque of the moving mechanism of the wall climbing robot is determined by the size of the negative pressure adsorption force. In structural design, all the rollers adopt a driving wheel mode, limited negative pressure adsorption force can be utilized to the maximum extent, and generated friction force is used for driving the robot to move, so that the load capacity of the robot is improved. The roller wheels are driven by two motors, and the movement is transmitted to the rollers which rotate passively through belts.

The driving motor of the centrifugal fan is reversely arranged at the bottom of the centrifugal fan in the design, so that the mechanism compactness and safety of the wall-climbing robot are improved to a great extent, and the driving motor is connected to the inside of the outer shell through the motor connecting plate. The centrifugal fan is pressed by the nut, the reinforcing pad and the shaft sleeve and rotates together with the rotating shaft of the driving motor to realize the exhaust work. The bottom of whole robot can effectively be sealed to the sealed skirt of the setting of shell body bottom, and centrifugal fan and vacuum pump are bled to the inside of outer casing, and the effect of atmospheric pressure, sealed skirt is pressed on the work wall, adsorbs whole robot at the jar external surface that the waste liquid was stored.

Along with the movement of the wall climbing robot, the sealing skirt rubs against the working wall surface, so the sealing skirt is a quick-wear part, the sealing skirt is fixed by a sealing cloth pressing strip and an L-shaped connecting bracket, the screw is easy to detach, the sealing skirt is convenient to replace, as the sponge, the sealing cloth and the bakelite framework can bear large deformation and are not damaged, when the sealing skirt needs to be replaced, the bakelite framework is only required to be held to be bent so as to expose the connecting screw of the sealing skirt, and the sealing skirt can be replaced after the connecting screw of the sealing skirt is unscrewed; the design of sponge and bakelite skeleton enables the sealed skirt to be better laminated on the work wall under pressure, has increased sealed effect.

The negative pressure sensor is used for detecting the negative pressure in the outer shell when the robot works, so that the situation that the negative pressure is too high or too low, the energy consumption of the robot is increased when the negative pressure is too high, and the robot slips or falls when the negative pressure is too low is avoided; the temperature sensor is used for monitoring the ambient temperature, and the voltage monitoring module is used for detecting the voltage of the robot.

Drawings

Fig. 1 is a perspective view of the inside of a radiation measurement wall-climbing robot.

Fig. 2 is a perspective view of the adsorption mechanism.

Fig. 3 is a schematic sectional structure diagram of the adsorption mechanism.

Fig. 4 is a perspective view of the seal structure.

Fig. 5 is a cross-sectional structural view of the seal structure.

Fig. 6 is a schematic structural view of the propulsion mechanism.

Fig. 7 is a schematic structural diagram of the outer shell.

The device comprises a belt 1, a belt 2, an outer shell, 3, rollers, 4, a sealing structure, 5, a belt pulley, 6, a support, 7, a cable joint, 8, a probe module, 9, a camera, 10, an 'L' -shaped mounting plate, 11, an adsorption mechanism, 12, a connecting plate, 13, a nuclear radiation measuring probe, 14, a stainless steel frame, 15, a cable clamp plate, 16, a roller, 17, a fixing plate, 18, an upper cover, 19, a wiring barrel, 20, an bakelite framework, 21, a connecting support, 22, a sealing skirt, 23, a sponge, 24, a gland nut, 25, an upper plate, 26, an adsorption plate, 27, a vacuum pump, 28, an air outlet, 29, a ventilation opening, 30 and a roller motor.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.

As shown in fig. 1 and 7, the radiation measurement wall-climbing robot includes an outer shell 2, the bottom of the outer shell 2 is open, a propelling mechanism and an adsorption mechanism 11 are arranged in the outer shell 2, two opposite side surfaces on the outer shell 2 are provided with a front camera 9 and a rear camera 9 through an L-shaped mounting plate 10, the side wall of the outer shell 2 is provided with a nuclear radiation measurement probe 13 through a stainless steel frame 14, the stainless steel frame 14 is provided with a splayed connecting sheet, and the connecting sheet is fixedly connected with the outer shell 2.

The outer shell 2 is provided with a wiring mechanism, the wiring mechanism comprises a fixing plate 17, a roller 16 is mounted on the fixing plate 17, a cable clamp plate 15 is arranged above the roller 16, the cable clamp plate 15 is hinged on the fixing plate 17, and the bottom end of the cable clamp plate 15 is provided with a plurality of arc-shaped grooves, so that the wiring of cables is facilitated; the front end of the roller 16 is provided with a wiring barrel 19, and the wiring barrel 19 is fixed on the fixing plate 17; the nuclear radiation measuring probe 13 is electrically connected with the controller through the probe module 8, the two cameras 9 are electrically connected with the controller, and the stainless steel frame 14 and the fixing plate 17 penetrate through the outer shell 2.

The invention utilizes the wall-climbing robot to carry the nuclear radiation measuring probe 13 to reach the side wall of the storage tank, the robot is operated by the remote controller to climb on the side wall of the metal tank body and reach the required measuring position to carry out measurement, the radiation level measurement of the outer surface of the closed radioactive waste liquid storage tank is completed, and the radioactive exposure of field operation personnel is reduced. In the use, utilize supplementary input device to place the robot on jar side wall, adsorption apparatus constructs 11 and adsorbs whole robot at the surface of waste liquid basin to realize advancing the action through advancing mechanism.

Meanwhile, the front camera 9 and the rear camera 9 can observe the environment around the robot in real time, so that the remote control of workers is facilitated; the nuclear radiation measuring probe 13 is used for measuring the nuclear radiation amount of the area walked by the robot, and the stainless steel frame 14 can adjust the position on the robot through the connecting sheet. The communication cable connected with the robot can enter the trolley through the wiring barrel 19 and the roller 16, and the communication cable is wound on the roller 16, so that wiring is facilitated, and winding and obstacle to trolley walking are avoided.

As shown in fig. 6, the propelling mechanism includes four rollers 3, the four rollers 3 are all fixed on the top of the outer casing 2 through a bracket 6, the four rollers 3 are respectively installed at two ends of two rotating shafts, each rotating shaft is installed with a motor, the rotating shaft of the motor is connected with one roller 3, and the other roller 3 is rotatably connected on the rotating shaft; all install belt pulley 5 on every gyro wheel 3, the belt pulley 5 of homonymy passes through belt 1 to be connected on two pivots.

Wall climbing robot transmits the adsorption affinity for gyro wheel 3 through the body, and gyro wheel 3 adopts the soft rubber material that coefficient of friction is big, provides the power of robot motion by the frictional force of gyro wheel 3, and consequently the maximum output torque of wall climbing robot moving mechanism has been decided to the size of negative pressure adsorption affinity. In structural design, all the rollers 3 adopt a driving wheel mode, limited negative pressure adsorption force can be utilized to the maximum extent, and generated friction force is used for driving the robot to move, so that the load capacity of the robot is improved. The rollers 3 are driven by two motors, and the movement is transmitted to the rollers 3 which rotate passively through the belt 1.

As shown in fig. 2 and 3, the adsorption mechanism 11 includes a vacuum pump 27, an air outlet 28 in the vacuum pump 27 extends into the bottom of the outer casing 2, an air inlet of the vacuum pump 27 is connected with a centrifugal fan, the centrifugal fan is connected with a rotating shaft of a driving motor, and the driving motor is installed in the outer casing 2 through a mounting frame; the vacuum pump 27 and the drive motor are both electrically connected to the controller. The centrifugal fan comprises an upper plate 25, the upper plate 25 is fixed on a rotating shaft of the driving motor through a compression nut 24 and an upper cover 18, an adsorption plate 26 is arranged below the upper plate 25, the adsorption plate 26 is connected with the upper plate 25 through a plurality of partition plates, a plurality of fan-shaped ventilation openings 29 are formed between the plurality of partition plates, and the ventilation openings 29 are communicated with an air inlet of a vacuum pump 27.

The driving motor of the centrifugal fan is reversely arranged at the bottom of the centrifugal fan in the design, so that the mechanism compactness and the safety of the wall-climbing robot are improved to a great extent, and the driving motor is connected to the inside of the outer shell 2 through the motor connecting plate 12. The centrifugal fan is pressed by the nut, the reinforcing pad and the shaft sleeve and rotates together with the rotating shaft of the driving motor to realize the exhaust work. The bottom of whole robot can effectively be sealed to the sealed skirt 22 of the setting of shell body 2 bottom, and centrifugal fan and vacuum pump 27 are bled to the inside of shell body 2, and the effect of atmospheric pressure, sealed skirt 22 is pressed on the work wall, adsorbs whole robot at the jar external surface that the waste liquid was stored.

As shown in fig. 4 and 5, a circle of sealing structure 4 is arranged at the bottom edge of the outer shell 2, the sealing structure 4 comprises a sealing skirt 22, the sealing skirt 22 is made of parachute cloth, the sealing skirt 22 is fixed at the bottom of the outer shell 2 through a sealing cloth pressing strip and an L-shaped connecting bracket 21, the connecting bracket 21 is connected with the sealing cloth pressing strip through a fixing screw, and the sealing skirt 22 extends towards the periphery of the bottom of the outer shell 2; the edge of the sealing skirt 22 is wrapped with a circle of bakelite framework 20, and a circle of sponge 23 is arranged between the bottom of the bakelite framework 20 and the sealing skirt 22.

Along with the movement of the wall climbing robot, the sealing skirt 22 rubs against the working wall surface, so the sealing skirt 22 is a wearing part, the sealing skirt is fixed by a sealing cloth pressing strip and an L-shaped connecting bracket 21, the screw is easy to detach, the sealing skirt 22 is convenient to replace, as the sponge 23, the sealing cloth and the bakelite framework 20 can bear large deformation and are not damaged, when the sealing skirt 22 needs to be replaced, the bakelite framework 20 is only held to be bent to expose the connecting screw of the sealing skirt 22, and the sealing skirt 22 can be replaced after the connecting screw of the sealing skirt 22 is unscrewed; the design of sponge 23 and bakelite framework 20 can make the sealed skirt 22 better fit on the working wall surface under pressure, and the sealing effect is increased.

The controller is connected with the remote controller through a communication cable, the communication cable penetrates through the wiring drum 19 and is wound on the roller 16, the remote controller comprises an operator and a repeater, a wireless receiving module is arranged on the repeater, and the repeater is connected with the operator through the communication cable; the operator comprises a speed gear knob, a negative pressure gear knob, a manual walking rocking handle, an automatic walking rocking handle and a display screen. A negative pressure sensor, a temperature acquisition sensor and a voltage monitoring module are arranged in the outer shell 2; the negative pressure sensor, the temperature acquisition sensor and the voltage monitoring module are all electrically connected with the controller.

The controller adopts an embedded Atmega128 chip, a wireless communication module is arranged for signal transmission, a clock module is arranged for providing a clock service, a cable joint 7 convenient for wiring is arranged at the upper end of the outer shell, and the cable joint 7 is electrically connected with the controller; the negative pressure sensor is used for detecting the negative pressure in the outer shell 2 when the robot works, so that the situation that the negative pressure is too high or too low, the energy consumption of the robot is increased when the negative pressure is too high, and the robot slips or falls when the negative pressure is too low is avoided; the temperature sensor is used for monitoring the ambient temperature, and the voltage monitoring module is used for detecting the voltage of the robot.