CN109382816B

CN109382816B - High-radiation underground space source item investigation robot system

Info

Publication number: CN109382816B
Application number: CN201710685435.8A
Authority: CN
Inventors: 孙根; 张华�; 张国林; 胡天链; 朱盈喜; 于红箭; 杨美健; 张静; 任正茂; 刘满禄; 赵奔
Original assignee: Southwest University of Science and Technology; 404 Co Ltd China National Nuclear Corp
Current assignee: Southwest University of Science and Technology; 404 Co Ltd China National Nuclear Corp
Priority date: 2017-08-11
Filing date: 2017-08-11
Publication date: 2022-01-07
Anticipated expiration: 2037-08-11
Also published as: CN109382816A

Abstract

The invention belongs to the technical field of intelligent lifting systems, and particularly relates to a high-radiation underground space source item investigation robot system. The device comprises a traction device, a lifting device, a control box, a remote control holder, a bearing vehicle body, an instrument holder and a human-computer interaction system; the traction device, the lifting device and the control box are installed on the bearing vehicle body, the remote control holder is installed on the lifting device, the instrument holder is installed on the remote control holder, and the man-machine interaction system controls the traction device, the lifting device, the remote control holder, the bearing vehicle body and the instrument holder to operate. On the basis of having the function of a lifting system, the invention simultaneously has the functions of implementing monitoring, on-site visual image acquisition and the like, and completes the tasks of remote control and data transmission under the complex environmental condition.

Description

High-radiation underground space source item investigation robot system

Technical Field

The invention belongs to the technical field of intelligent lifting systems, and particularly relates to a high-radiation underground space source item investigation robot system.

Background

The invention aims to establish a set of intelligent investigation robot system according to the internal environment of operation and the detection requirement of a radioactive source. On the basis of having the lifting system function, the remote monitoring system has special functions of implementing monitoring, on-site visual image acquisition and the like, and completes remote control and data transmission tasks under complex environmental conditions. The working space has the characteristics of high radiation and complex spatial position distribution. This requires that: when the lifting device fails, the quick-wear parts are easy to maintain and replace on site; the lifting device has simple fixing mode, small size and compact structure, can carry an instrument to dive, can be coated by a gas curtain and is convenient for personnel to operate; the field installation operation time is as short as possible, and the field maintenance is avoided. The structure, control precision, operating environment and stability of the lifting device in the market at present can not meet the requirements of a field, so that the high-radiation underground space source investigation machine system is required to be invented according to conditions and used for detecting the actual conditions of high-radiation objects in an underground space for subsequent treatment.

Disclosure of Invention

The invention aims to provide a high-radiation underground space source item investigation robot system, in particular to an intelligent remote lifting system with indoor environment and radioactive source detection requirements.

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

a high-radiation underground space source item investigation robot system comprises a traction device, a lifting device, a control box, a remote control holder, a bearing vehicle body, an instrument holder and a human-computer interaction system; the traction device, the lifting device and the control box are installed on the bearing vehicle body, the remote control holder is installed on the lifting device, the instrument holder is installed on the remote control holder, and the man-machine interaction system controls the traction device, the lifting device, the remote control holder, the bearing vehicle body and the instrument holder to operate.

The lifting device comprises a stay-supported encoder, an encoder transfer wheel, a guide pulley, a five-stage telescopic sleeve upper stop block, a four-stage telescopic sleeve upper stop block, a three-stage telescopic sleeve upper stop block, a two-stage telescopic sleeve upper stop block, a steel wire rope clamp, a steel wire rope pull frame, a steel wire rope tail end rope clamp, a five-stage telescopic sleeve, a four-stage telescopic sleeve, a three-stage telescopic sleeve, a two-stage telescopic sleeve, a one-stage telescopic sleeve, a telescopic sleeve slider limiting plate, a polyurethane stop block, a lower stop block, a quick-change device interface, a guide rail A and a slider A; the first-stage telescopic sleeve, the second-stage telescopic sleeve, the third-stage telescopic sleeve, the fourth-stage telescopic sleeve and the fifth-stage telescopic sleeve are sequentially sleeved together from inside to outside, and the sleeves at all stages can move up and down; the tail ends of the five-stage telescopic sleeve, the four-stage telescopic sleeve, the three-stage telescopic sleeve and the second-stage telescopic sleeve are respectively provided with two lower stop blocks; the upper ends of the five-stage telescopic sleeve, the four-stage telescopic sleeve, the three-stage telescopic sleeve and the second-stage telescopic sleeve are respectively provided with a five-stage telescopic sleeve upper stop block, a four-stage telescopic sleeve upper stop block, a three-stage telescopic sleeve upper stop block and a second-stage telescopic sleeve upper stop block; a telescopic sleeve slider limiting plate is arranged on the outer side of the primary telescopic sleeve, a polyurethane stop block is arranged below the telescopic sleeve slider limiting plate, a slider A is arranged on the telescopic sleeve slider limiting plate, the slider A is connected with a guide rail A to enable all stages of telescopic sleeves to slide relatively, and the guide rail A is riveted on the inner side of the secondary telescopic sleeve; the two-stage telescopic sleeve and the three-stage telescopic sleeve, the three-stage telescopic sleeve and the four-stage telescopic sleeve are connected through a telescopic sleeve slider limiting plate, a polyurethane stop block, a slider A and a guide rail A; two sliding blocks A are arranged between the third-stage telescopic sleeve and the fourth-stage telescopic sleeve and between the fourth-stage telescopic sleeve and the fifth-stage telescopic sleeve; a sliding block A is arranged between the first-stage telescopic sleeve and the second-stage telescopic sleeve and between the second-stage telescopic sleeve and the third-stage telescopic sleeve; the stay wire type encoder is arranged at the upper end of the five-stage telescopic sleeve, and the encoder transfer wheel and the guide pulley are fixedly arranged at the upper end of the five-stage telescopic sleeve; the steel wire rope clamp is arranged at the upper end of the steel wire rope tail end rope clamp; the wire rope tail end rope clamp is arranged on a wire rope pulling frame, and the wire rope pulling frame is arranged at the uppermost end of the primary telescopic sleeve; the tail end of the primary telescopic sleeve is provided with a quick-change device interface; one end of the steel wire rope provides tension through the traction mechanism, and the other end of the steel wire rope sequentially penetrates through the steel wire rope clamp, the steel wire rope pulling frame and the steel wire rope tail end rope clamp;

in the descending process, the gravity from the first-stage telescopic sleeve to the fourth-stage telescopic sleeve is attached to the fifth-stage telescopic sleeve, the gravity from the first-stage telescopic sleeve to the third-stage telescopic sleeve is attached to the fourth-stage telescopic sleeve, and the rest is done; the four-stage telescopic sleeve to the first-stage telescopic sleeve sequentially extend out from the large end to the small end through a telescopic sleeve sliding block limiting plate, a sliding block A and a guide rail A; when the four-stage telescopic sleeve descends to the limit length, the four-stage telescopic sleeve is blocked by the lower blocking block of the five-stage telescopic sleeve, so that the three-stage telescopic sleeve, the two-stage telescopic sleeve and the one-stage telescopic sleeve continuously descend sequentially by means of gravity; when the telescopic sleeves at all levels are lowered to the limit length and are blocked by the lower stop blocks, the polyurethane stop blocks play a role in buffering; in the ascending process, the steel wire rope pulls the steel wire rope pulling frame, and the steel wire rope pulling frame pulls the primary telescopic sleeve to ascend; when the primary telescopic sleeve is lifted to the limit length, the primary telescopic sleeve is contacted with the stop block on the secondary telescopic sleeve, so that the secondary telescopic sleeve is driven to lift; and sequentially lifting the first-stage telescopic sleeve, the second-stage telescopic sleeve, the third-stage telescopic sleeve and the fourth-stage telescopic sleeve back to the fifth-stage telescopic sleeve.

The instrument holder comprises a light instrument combination, a light group mounting bracket, a gamma camera fixing block, a holder framework and a waterproof box; the light instrument combination comprises a laser range finder, a light instrument group installation block, an LED, a reversing camera and an ultrasonic sensor; the clamp holder framework comprises a clamp holder framework square ring, a clamp holder framework square plate and a clamp holder framework circular ring, the clamp holder framework square plate is fixed on the front side of the inner ring of the clamp holder framework square ring through arc-compression welding, and the clamp holder framework circular ring is fixed on the rear side of the clamp holder framework square ring through arc-compression welding; the gamma camera fixing block is fixed at the rear part of the square ring of the holder framework; the lighting instrument group mounting block is fixed on the lighting group mounting support, the lighting group mounting support is fixed on the front side of the square ring of the holder framework, the gamma camera fixing block is provided with a groove for mounting a gamma camera, and the waterproof box is fixed on the rear part of the square ring of the holder framework; the laser range finder, the LED, the reversing camera and the ultrasonic sensor are arranged on the lighting instrument group mounting block, and the lighting instrument group mounting block, the lighting group mounting support, the holder framework square ring, the holder framework square plate, the holder framework circular ring and the gamma camera fixing block are made of duralumin 6061-74.

The traction device comprises a driving motor, a multi-stage speed reducer, a rope winding device, a supporting seat, a winding drum frame and a travel switch A; the rope winding device is fixed on a winding drum frame, the winding drum frame is arranged on a supporting seat and can transversely move on the supporting seat, and a travel switch A is fixed on the supporting seat and arranged at the maximum travel position of the winding drum frame, so that the transverse movement of the winding drum frame can be stopped in time; the multi-stage speed reducer is formed by connecting a gear speed reducer, a worm gear speed reducer A and a planetary speed reducer in series, the driving motor comprises a first direct current servo motor and a second motor which are connected in parallel, and a shaft gear of the first motor and a shaft gear of the second motor are simultaneously connected with an input shaft gear of the gear speed reducer in parallel.

The rope winding device comprises a winding drum, a steel wire rope, a rope clamp, a sliding block B, a guide rail B, a synchronous belt shell, a ball screw, a nut fixing seat, a belt wheel I, a synchronous belt and a belt wheel II; the ball screw, the nut and the nut fixing seat form a screw nut mechanism, the nut is fixed on the nut fixing seat, the nut fixing seat is fixed on the supporting seat, the ball screw penetrates through the nut, two ends of the ball screw are supported by bearings on a winding drum frame, a first belt wheel is connected on a winding drum through a key, a second belt wheel is connected to one end of the ball screw through a key, a first belt wheel, a synchronous belt and a second belt wheel form a synchronous belt pulley mechanism, an output shaft of a planetary reducer is connected with an input end cover of the winding drum, an output end cover of the winding drum drives the first belt wheel to rotate through the key, the first belt wheel transmits power to the second belt wheel, the second belt wheel transmits power to the screw through the key connection, and the screw nut mechanism and the synchronous belt pulley mechanism are matched with a single-layer rope to transversely move; the winding drum is arranged on the winding drum frame, the winding drum is provided with a rope clamp, the starting end of the steel wire rope is clamped on the winding drum through the rope clamp, one end of the winding drum is connected with an output shaft of the planetary reducer, and the output shaft of the planetary reducer drives the winding drum to rotate to carry out the wire winding and unwinding process; a synchronous belt shell is arranged on the drum frame, the belt wheel I, the synchronous belt and the belt wheel II are positioned in the synchronous belt shell, the sliding block B is fixed on the drum frame, a guide rail B is fixed on the supporting seat, and the sliding block B can transversely move on the guide rail B; the lower end of the rope clamp is in a shape of a copying arc; the transverse movement of the reel frame driven by the ball screw in cooperation with the reel rope can be realized by setting the tooth number of the belt wheel I and the belt wheel II, so that the steel wire ropes are compactly arranged on the reel; the reel carries out the line process of receiving and releasing through receiving multistage reduction gear output shaft's positive and negative rotation, makes ball positive and negative rotation simultaneously for ball's rotation turns into the lateral motion of the slider B of fixing on the reel frame on guide rail B, thereby realizes the lateral motion of reel frame.

The remote control holder comprises a first joint rotating horizontally, a second joint rotating in a pitching manner, an angular contact bearing, an internal cable pipeline and an angle encoder; the first joint is connected with the second joint through an angular contact bearing; the first joint comprises a first joint motor, a first synchronous belt wheel driving wheel, a first transmission belt, a first synchronous belt wheel driven wheel, a first harmonic reducer and a first joint shell; the first joint motor is fixedly connected to a first joint shell and is connected with a first synchronous belt wheel driving wheel through a flat key, the first synchronous belt wheel driving wheel is connected with a first synchronous belt wheel driven wheel through a first transmission belt, the first synchronous belt wheel driven wheel is connected with a rigid gear of a first harmonic reducer, and a flexible gear of the first harmonic reducer is connected with the first joint shell; the second joint comprises a second joint motor, a second synchronous belt wheel driving wheel, a second transmission belt, a second synchronous belt wheel driven wheel, a second harmonic reducer and a second joint shell; the second joint motor is fixedly connected to the second joint shell and is connected with the second synchronous pulley driving wheel through a flat key, the second synchronous pulley driving wheel is connected with the second synchronous pulley driven wheel through a second transmission belt, the second synchronous pulley driven wheel is connected with a rigid gear of the second harmonic reducer, and a flexible gear of the second harmonic reducer is connected with the second joint shell; an angle encoder is installed on the second harmonic reducer and is connected with a flexible gear shell of the second harmonic reducer through a flange; the angular contact bearing comprises angular contact bearing balls, an angular contact bearing outer ring and an angular contact bearing inner ring; the outer ring of the angular contact bearing is connected with the first joint shell, and the inner ring of the angular contact bearing is connected with the second joint shell; the angular contact bearing balls are arranged between the angular contact bearing outer ring and the angular contact bearing inner ring; the cable is connected with the first joint motor and the second joint motor through the inner cable pipeline.

The remote control holder is connected with a quick-change device interface of the lifting device through a head end mechanical quick-change connector and a head end electrical quick-change connector; the remote control holder carries the measuring equipment through the electric quick-change connector of the tail end tool, or the remote control holder is provided with the instrument holder through the mechanical quick-change connector of the tail end tool, and the instrument holder carries the measuring equipment.

The bearing vehicle body comprises a screw rod lifting mechanism, a vehicle frame and a leveling and driving mechanism, wherein the screw rod lifting mechanism and the leveling and driving mechanism are fixed on the vehicle frame; the leveling and driving mechanism comprises a Mecanum wheel, a wheel driving device, a first rotating shaft, a screw rod, a leveling motor, a speed reducer, a wheel supporting frame and a second rotating shaft; the wheel driving device is arranged on the wheel supporting frame and used for driving the Mecanum wheel to rotate; the leveling motor adopts an absolute value motor to instantly determine whether each wheel lands; the speed reducer is fixed on the frame through a hinge, the rotating shaft II is installed on the frame, the screw rod is connected with the wheel supporting frame through the rotating shaft I, the screw rod is connected with the speed reducer through a flange, and the leveling motor is installed on the flange of the speed reducer; the rotating shaft II, the wheel supporting frame, the rotating shaft I, the screw rod and the frame form a four-bar mechanism, and the rotation of the Mecanum wheel around the rotating shaft II is realized through the screw rod, so that the leveling of the vehicle body is realized; the screw lifting mechanism comprises a telescopic sleeve mounting rack, a travel switch B, a lifting screw, a screw fixing rack, a worm gear reducer B and a lifting screw motor, wherein a telescopic sleeve mounting hole is formed in the telescopic sleeve mounting rack; the travel switch B is arranged on the frame and used for controlling the upper limit position and the lower limit position of the telescopic sleeve; the control box is arranged on a side plate of the frame, the traction device is arranged above the frame, and the lifting device is arranged on the screw rod lifting mechanism.

The control box comprises a control box body, and a preformed hole on the control box body is provided with a motion control module, a switching power supply, a radiator, a UPS power supply, a switch, a temperature controller, an industrial personal computer, a servo driver, a relay and a circuit breaker; the circuit breaker is a system power supply main switch and controls the on-off of the power supply in a manual mode; when the internal temperature of the control box is lower than 0 ℃, the temperature controller automatically heats the control box, and when the internal temperature of the control box is higher than 0 ℃, the heating is stopped; the switching power supply provides a 24V direct current power supply for the motion control module, the servo driver and the relay; the input signal interface of the motion control module is an Ethernet interface for realizing data exchange between an Ethernet cable and an industrial personal computer through a switch, and the output signal sends a position instruction to the servo driver through a control signal line; the output signal of the servo driver is connected with the servo motor to control the servo motor to complete the positioning operation; the radiator provides air convection power for the control box, so that the air in the control box forms convection, and the heat exchange capacity between the control box and the outside is enhanced; the switch is connected with the man-machine interaction system through Ethernet/optical fiber; the relay is used for controlling whether the power supply of the servo driver is switched on or not; the UPS temporarily supplies power to the system under the condition that the system is accidentally powered off; the man-machine interaction system sends a control command to the industrial personal computer through the switch, the industrial personal computer converts the control command into a command which can be identified by the motion control module after receiving the control command, the command is issued to the motion control module through the switch, the motion control module converts the command into a pulse, a pulse control signal is sent to the servo driver through a control signal line, the servo driver controls the servo motor to operate according to the received pulse control signal, and finally position control of the traction device, the lifting device, the remote control holder, the bearing vehicle body and the instrument holder is achieved.

The human-computer interaction system consists of a display unit, an operation and control unit, a core processing unit and a software unit; the display unit is connected with the core processing unit through the VGA interface and used for displaying the state of the field equipment, wherein the state comprises the position of each servo motor, the distance information of the ultrasonic sensor, the switching information of the LED light supplement lamp and the field environment image information; the control unit is connected with the core processing unit through a USB interface, and an operator inputs a control instruction through the control unit; the core processing unit is used as a data processing and calculating unit and used for processing input data of the control unit and analyzing position information of the servo motor and distance information of the ultrasonic sensor; the software unit is used for presenting the running state of the field device, including whether the field device is electrified or not, whether the device is in a working state or not, the position information of each shaft and the sensor data; the input instructions of the control unit comprise forward, backward, left-turn, right-turn, ascending and descending instructions of the equipment; after the human-computer interaction system is started, an operator opens the software unit, and inputs a control command through the control unit to control the traction device, the lifting device, the remote control holder, the bearing vehicle body and the instrument holder to operate.

The beneficial effects obtained by the invention are as follows:

on the basis of having the function of a lifting system, the invention simultaneously has the functions of implementing monitoring, on-site visual image acquisition and the like, and completes the tasks of remote control and data transmission under the complex environmental condition.

Drawings

FIG. 1 is a schematic diagram of the general structure of the present invention;

FIG. 2 is a broken cross-sectional view of the lift device of the present invention;

FIG. 3 is a partial enlarged view of the sliding portion of the lifting device of the present invention;

FIG. 4 is a schematic view of the installation mode of the telescopic sleeve and the guide rail, the slide block and the telescopic sleeve slide block limiting plate of the lifting device of the invention;

FIG. 5 is a schematic view of the instrument holder of the present invention;

FIG. 6 is a schematic view of a meter holder light fixture mounting block of the present invention;

FIG. 7 is a general block diagram of the draft gear of the present invention;

FIG. 8 is a detailed structural view of the draft gear of the present invention;

FIG. 9 is a cross-sectional view of a cord winder of the draft gear of the present invention;

FIG. 10 is a view showing a connection mode of a motor and a reducer of the traction apparatus according to the present invention;

FIG. 11 is a schematic view of the wire rope attachment of the present invention;

FIG. 12 is a general configuration of a remote control head according to the present invention;

FIG. 13 is a front view of the internal structure of the remote control head of the present invention;

FIG. 14 is a left side view of the internal structure of the remote control head of the present invention;

FIG. 15 is a schematic structural view of a load-bearing vehicle body according to the present invention;

FIG. 16 is a schematic view of a leveling and drive mechanism for the load carrier body of the present invention;

FIG. 17 is a schematic view of a lead screw elevating mechanism of the loading cart body according to the present invention;

FIG. 18 is a schematic view showing the internal structure of the control box of the present invention;

FIG. 19 is a schematic diagram of the control structure of the present invention;

in the figure: 1. a traction device; 2. a lifting device; 3. a control box; 4. the cradle head is remotely controlled; 5. a load-bearing vehicle body; 6. a meter holder; 7. a pull-wire encoder; 8. a coder switching wheel; 9. a guide pulley; 10. a stop block is arranged on the five-stage telescopic sleeve; 11. a four-stage telescopic sleeve upper stop block; 12. a stop block is arranged on the three-stage telescopic sleeve; 13. a stop block is arranged on the secondary telescopic sleeve; 14. a steel wire rope clamp; 15. a steel wire rope pulling frame; 16. a wire clamp at the tail end of the steel wire rope; 17. a five-stage telescopic sleeve; 18. a four-stage telescopic sleeve; 19. a third stage telescopic sleeve; 20. a secondary telescopic sleeve; 21. a primary telescopic sleeve; 22. a telescopic sleeve slider limiting plate; 23. a polyurethane stopper; 24. a lower stop block; 25. a quick-change device interface; 26. a guide rail A; 27. a slide block A; 28. a laser range finder; 29. a lighting instrument set mounting block; 30. an LED; 31. a reversing camera; 32. an ultrasonic sensor; 33. a lamp group mounting bracket; 34. a clamper frame square ring; 35. a clamper frame square plate; 36. a circular ring of the holder framework; 37. a gamma camera fixing block; 38. a waterproof box; 39. a drive motor; 40. a multi-stage reducer; 41. a rope winding device; 42. a supporting seat; 43. a reel frame; 44. a travel switch A; 45. a gear reducer; 46. a worm reducer A; 47. a planetary reducer; 48. a reel; 49. a wire rope; 50. rope clips; 51. a slide block B; 52. a guide rail B; 53. a synchronous belt shell; 54. a ball screw; 55. a nut; 56. a nut fixing seat; 57. an output shaft of the planetary reducer; 58. a first belt wheel; 59. a synchronous belt; 60. a second belt wheel; 61. a shaft gear of the motor I; 62. an input shaft gear of the gear reducer; 63. a shaft gear of the motor II; 64. a head end mechanical quick change coupler; 65. a motor is arranged on the joint; 66. a driving wheel of the synchronous belt wheel; 67. a driven wheel of the synchronous belt wheel; 68. a first harmonic reducer; 69. an inner cable duct; 70. a second joint shell; 71. a mechanical quick-change connector for a terminal tool; 72. a second joint motor; 73. angular contact bearing balls; 74. a first transmission belt; 75. a shell of the joint; 76. a head end electrical quick-change connector; 77. an angular contact bearing outer race; 78. an angular contact bearing inner race; 79. a synchronous belt wheel secondary driving wheel; 80. a second transmission belt; 81. an end tool electrical quick-change connector; 82. a second synchronous belt wheel driven wheel; 83. a harmonic reducer II; 84. an angle encoder; 85. a lead screw lifting mechanism; 86. a frame; 87. a leveling and driving mechanism; 88. a Mecanum wheel; 89. a wheel drive device; 90. a first rotating shaft; 91. a lead screw; 92. a leveling motor; 93. a speed reducer; 94. a wheel support frame; 95. a second rotating shaft; 96. a telescopic sleeve mounting hole; 97. a telescopic sleeve mounting rack; 98. a travel switch B; 99. lifting a screw rod; 100. a lead screw fixing frame; 101. a worm reducer B; 102. a lifting lead screw motor; 103. a motion control module; 104. a switching power supply; 105. a heat sink; 106. a UPS power supply; 107. a switch; 108. a temperature controller; 109. an industrial personal computer; 110. a servo driver; 111. a relay; 112. a circuit breaker; 113. a control box body; 114. a human-computer interaction system; 115. a display unit; 116. a manipulation unit; 117. a core processing unit; 118. a software unit.

Detailed Description

The invention is described in detail below with reference to the figures and specific embodiments.

As shown in FIG. 1, the high-radiation underground space source item investigation robot system comprises a traction device 1, a lifting device 2, a control box 3, a remote control holder 4, a bearing vehicle body 5, an instrument holder 6 and a human-computer interaction system; the control box 3 is installed on a side plate of a frame 86 of the bearing vehicle body 5 through screws, the traction device 1 is installed above the frame 86 of the bearing vehicle body 5 through screws, the lifting device 2 is installed on a lead screw lifting mechanism 85 of the bearing vehicle body 5 through screws, the remote control holder 4 is installed on a quick-change device interface 25 of the lifting device 2 through screws, the instrument holder 6 is installed on a mechanical quick-change connector 71 of a tool at the tail end of the remote control holder 4 through screws, and the man-machine interaction system is used for remote operation control of the mechanisms.

As shown in fig. 2 to 4, the lifting device 2 includes a stay-supported encoder 7, an encoder transfer wheel 8, a guide pulley 9, a five-stage telescopic sleeve upper stop block 10, a four-stage telescopic sleeve upper stop block 11, a three-stage telescopic sleeve upper stop block 12, a two-stage telescopic sleeve upper stop block 13, a steel wire rope clamp 14, a steel wire rope pull frame 15, a steel wire rope tail end rope clamp 16, a five-stage telescopic sleeve 17, a four-stage telescopic sleeve 18, a three-stage telescopic sleeve 19, a two-stage telescopic sleeve 20, a one-stage telescopic sleeve 21, a telescopic sleeve slider limiting plate 22, a polyurethane stop block 23, a lower stop block 24, a quick-change device interface 25, a guide rail a26 and a slider a 27;

the first-stage telescopic sleeve 21, the second-stage telescopic sleeve 20, the third-stage telescopic sleeve 19, the fourth-stage telescopic sleeve 18 and the fifth-stage telescopic sleeve 17 are sequentially sleeved together from inside to outside, and the sleeves at all stages can move up and down; the tail ends of the five-stage telescopic sleeve 17, the four-stage telescopic sleeve 18, the three-stage telescopic sleeve 19 and the two-stage telescopic sleeve 20 are respectively provided with two lower stop blocks 24; the upper ends of the five-stage telescopic sleeve 17, the four-stage telescopic sleeve 18, the three-stage telescopic sleeve 19 and the second-stage telescopic sleeve 20 are respectively provided with a five-stage telescopic sleeve upper stop block 10, a four-stage telescopic sleeve upper stop block 11, a three-stage telescopic sleeve upper stop block 12 and a second-stage telescopic sleeve upper stop block 13;

the outer side of the first-stage telescopic sleeve 21 is provided with a telescopic sleeve slider limiting plate 22, a polyurethane stop dog 23 is arranged below the telescopic sleeve slider limiting plate 22, a slider A27 is arranged on the telescopic sleeve slider limiting plate 22, the slider A27 is connected with a guide rail A26 to enable the telescopic sleeves of each stage to slide relatively, and the guide rail A26 is riveted on the inner side of the second-stage telescopic sleeve 20 through bolts; the two-stage telescopic sleeve 20 and the three-stage telescopic sleeve 19, the three-stage telescopic sleeve 19 and the four-stage telescopic sleeve 18, and the four-stage telescopic sleeve 18 and the five-stage telescopic sleeve 17 are connected through telescopic sleeve slider limiting plates 22, polyurethane stoppers 23, sliders A27 and guide rails A26; two sliding blocks A27 are arranged between the third-stage telescopic sleeve 19 and the fourth-stage telescopic sleeve 18 and between the fourth-stage telescopic sleeve 18 and the fifth-stage telescopic sleeve 17; a sliding block A27 is arranged between the first-stage telescopic sleeve 21 and the second-stage telescopic sleeve 20 and between the second-stage telescopic sleeve 20 and the third-stage telescopic sleeve 19;

the stay wire type encoder 7 is arranged at the upper end of the five-stage telescopic sleeve 17, and the encoder transfer wheel 8 and the guide pulley 9 are fixedly arranged at the upper end of the five-stage telescopic sleeve 17; the steel wire rope clamp 14 is arranged at the upper end of a steel wire rope tail end rope clamp 16 to prevent the steel wire rope from loosening; the tail end rope clamp 16 of the steel wire rope is arranged on the steel wire rope pulling frame 15, the steel wire rope pulling frame 15 is arranged at the uppermost end of the primary telescopic sleeve 21, and the traction device pulls the primary telescopic sleeve 21 through the steel wire rope; the tail end of the primary telescopic sleeve 21 is provided with a quick-change device interface 25;

one end of the steel wire rope provides pulling force through the traction mechanism, and the other end of the steel wire rope sequentially penetrates through the steel wire rope clamp 14, the steel wire rope pulling frame 15 and the steel wire rope tail end rope clamp 16. The lifting device moves vertically downwards, and has high linearity requirement on the telescopic sleeve, so that the lifting device can descend by adopting the gravity of the telescopic sleeve.

In the descending process, the gravity of the first-stage telescopic sleeve 21 to the fourth-stage telescopic sleeve 18 is attached to the fifth-stage telescopic sleeve 17, the gravity of the first-stage telescopic sleeve 21 to the third-stage telescopic sleeve 19 is attached to the fourth-stage telescopic sleeve 18, and the like. The four-stage telescopic sleeve 18 to the first-stage telescopic sleeve 21 sequentially extend from the large end to the small end through a telescopic sleeve slider limiting plate 22, a slider A27 and a guide rail A26. When the four-stage telescopic sleeve 18 descends to the limit length, the lower stop block 24 of the five-stage telescopic sleeve 17 stops the four-stage telescopic sleeve 18, so that the three-stage telescopic sleeve 19, the two-stage telescopic sleeve 20 and the one-stage telescopic sleeve 21 continue to descend sequentially by means of gravity. When the telescopic sleeves of all stages are descended to the limit length and are blocked by the lower stop block 24, the polyurethane stop block 23 plays a role in buffering.

In the lifting process, the steel wire rope pulls the steel wire rope pulling frame 15, and the steel wire rope pulling frame 15 pulls the primary telescopic sleeve 21 to lift back. When the first-stage telescopic sleeve 21 is lifted to the limit length, the first-stage telescopic sleeve will contact with the stop block 13 on the second-stage telescopic sleeve, so as to drive the second-stage telescopic sleeve 20 to be lifted. And sequentially lifting the first-stage telescopic sleeve 21, the second-stage telescopic sleeve 20, the third-stage telescopic sleeve 19 and the fourth-stage telescopic sleeve 18 back to the fifth-stage telescopic sleeve 17.

As shown in fig. 5 to 6, the meter holder 6 includes a light instrument combination, a light group mounting bracket 33, a gamma camera fixing block 37, a holder frame, and a waterproof box 38; the light instrument combination comprises a laser range finder 28, a light instrument set mounting block 29, an LED30, a reversing camera 31 and an ultrasonic sensor 32; the clamp holder framework comprises a clamp holder framework square ring 34, a clamp holder framework square plate 35 and a clamp holder framework circular ring 36, the clamp holder framework square plate 35 is fixed on the front side of the inner ring of the clamp holder framework square ring 34 through pressure arc welding, and the clamp holder framework circular ring 36 is fixed on the rear side of the clamp holder framework square ring 34 through pressure arc welding; the gamma camera fixing block 37 is fixed at the rear part of the holder framework square ring 34 through an inner hexagonal socket head cap screw. The lighting unit mounting block 29 is fixed to the lighting unit mounting bracket 33 by screws. The lamp group mounting bracket 33 is fixed on the front side of the holder framework square ring 34 through screws, and the gamma camera fixing block 37 is provided with a groove for mounting a gamma camera. A waterproof box 38 is bolted to the rear of the holder frame quad ring 34.

In order to improve the detection distance and the observation range of the holder to the indoor, the laser range finder 28, the LED30, the reversing camera 31 and the ultrasonic sensor 32 are arranged on the lighting instrument group installation block 29, and the specific indoor situation can be completely observed. In order to prevent accidents and to detect indoor situations smoothly while the lights are disabled, the light and instrument combination includes an ultrasonic sensor 32. The heat treatment method of the lamp group mounting bracket 33 is anodic oxidation. The heat treatment method of the gamma camera fixing block 37 is white oxidation. The mounting block 29 of the lighting instrument group, the mounting bracket 33 of the lighting instrument group, the square ring 34 of the holder framework, the square plate 35 of the holder framework, the circular ring 36 of the holder framework and the gamma camera fixing block 37 are made of duralumin 6061-74.

Firstly, the corresponding nuclide detector is clamped by screwing down the hexagon socket head cap screws in the counter bores of the square plates 35 of the framework of the clamp holder. The instrument holder 6 is connected with the remote control holder 4, the instrument holder 6 is fed into the equipment room by using the lifting device 2, the ultrasonic sensor 32 is controlled by a circuit inside the waterproof box 38 to measure the distance from the obstacles in the front, up and down directions to the holder, the LED30 is started again to provide illumination, finally the reversing camera 31 is used to transmit the specific conditions in the equipment room to outside personnel, and the ultrasonic sensor 32 can effectively ensure that the equipment does not collide when exiting the equipment room when the light fails.

As shown in fig. 7 to 11, the traction apparatus 1 includes a driving motor 39, a multi-stage speed reducer 40, a rope winding apparatus 41, a support base 42, a spool holder 43, and a travel switch a 44; the rope winding device 41 is fixed on the winding drum frame 43, the winding drum frame 43 is arranged on the supporting seat 42 and can transversely move on the supporting seat 42, and the travel switch A44 is fixed on the supporting seat 42 and is arranged at the maximum travel position of the winding drum frame 43, so that the transverse movement of the winding drum frame 43 can be stopped in time.

The multi-stage speed reducer 40 is formed by connecting a gear speed reducer 45, a worm gear speed reducer A46 and a planetary speed reducer 47 in series, the driving motor 39 comprises a first direct current servo motor and a second direct current servo motor which are connected in parallel, and a shaft gear 61 of the first direct current servo motor and a shaft gear 63 of the second direct current servo motor are simultaneously connected with an input shaft gear 62 of the gear speed reducer in parallel.

The rope winding device 41 comprises a winding drum 48, a steel wire rope 49, a rope clamp 50, a sliding block B51, a guide rail B52, a synchronous belt shell 53, a ball screw 54, a nut 55, a nut fixing seat 56, a first belt wheel 58, a synchronous belt 59 and a second belt wheel 60; the ball screw 54, the nut 55 and the nut fixing seat 56 form a screw nut mechanism, the nut 55 is fixed on the nut fixing seat 56, the nut fixing seat 56 is fixed on the supporting seat 42, the ball screw 54 penetrates through the nut 55, two ends of the ball screw 54 are supported by bearings on the winding drum frame 43, the first belt wheel 58 is connected to the winding drum 48 through a key, the second belt wheel 60 is connected to one end of the ball screw 54 through a key, the first belt wheel 58, the synchronous belt 59 and the second belt wheel 60 form a synchronous belt mechanism, the output shaft 57 of the planetary reducer is connected with the input end cover of the winding drum 48 through a bolt, the output end cover of the winding drum 48 drives the first belt wheel 58 to rotate through the key, the first belt wheel 58 transmits power to the second belt wheel 60 through the synchronous belt 59, the second belt wheel 60 transmits the power to the screw 54 through the key, and the screw nut mechanism and the synchronous belt mechanism are matched with a single-layer rope to transversely move.

The winding drum 48 is arranged on the winding drum frame 43, the winding drum 48 is provided with a rope clamp 50, the starting end of the steel wire rope 49 is clamped on the winding drum 48 through the rope clamp 50, one end of the winding drum 48 is connected with an output shaft 57 of the planetary reducer, and the output shaft 57 of the planetary reducer drives the winding drum 48 to rotate so as to carry out the wire winding and unwinding process; the winding drum frame 43 is provided with a synchronous belt shell 53, the first belt wheel 58, the synchronous belt 59 and the second belt wheel 60 are positioned in the synchronous belt shell 53, the sliding block B51 is fixed on the winding drum frame 43, the supporting seat 42 is fixed with a guide rail B52, and the sliding block B51 can transversely move on the guide rail B52.

The lower end of the rope clamp 50 is in a shape of a copying arc, so that the steel wire rope 49 can be clamped without slipping, and threaded holes are formed in the rope clamp 50 and the winding drum 48 to play a role in fastening the steel wire rope 49. The rope clamp 50 simultaneously holds two strands of the wire rope 49, and 5 rope clamps 50 are provided in one circumferential direction of the drum 48 to enhance reliability.

The transverse movement of the spool rack 43 driven by the ball screw 54 to match with the rope coiling of the spool 48 can be realized by setting the number of teeth of the first belt pulley 58 and the second belt pulley 60, so that the steel wire rope 49 is compactly arranged on the spool 48. The spool 48 performs the wire winding and unwinding process by receiving the forward and reverse rotation of the output shaft of the multi-stage speed reducer 40, and simultaneously, the ball screw 54 is rotated forward and reverse, so that the rotation of the ball screw 54 is converted into the transverse movement of the slider B51 fixed on the spool holder 43 on the guide rail B52, thereby realizing the transverse movement of the spool holder 43.

As shown in fig. 12 to 14, the remote control pan/tilt head 4 includes a first joint for horizontal rotation, a second joint for pitch rotation, an angular contact bearing, an inner cable conduit 69, and an angle encoder 84; the first joint is connected with the second joint through an angular contact bearing;

the first joint comprises a first joint motor 65, a first synchronous pulley driving wheel 66, a first transmission belt 74, a first synchronous pulley driven wheel 67, a first harmonic speed reducer 68 and a first joint shell 75; the first joint motor 65 is a power source, is fixedly connected to a first joint shell 75 and is connected with a first synchronous pulley driving wheel 66 through a flat key, the first synchronous pulley driving wheel 67 is connected with a first synchronous pulley driven wheel 67 through a first transmission belt 74, the first synchronous pulley driven wheel 67 is connected with a rigid gear of a first harmonic speed reducer 68 through a screw, and a flexible gear of the first harmonic speed reducer 68 is also connected with a second joint shell 70 through a screw; the power is transmitted to the rigid gear of the harmonic reducer I68 through the synchronous pulley I driving wheel 66, the transmission belt I74 and the synchronous pulley I driven wheel 67, the flexible gear of the harmonic reducer I68 is fixedly connected with the joint II shell 70, and the joint I, namely the joint II shell 70 can slowly and horizontally rotate relative to the joint I shell 75 by utilizing the larger speed reduction ratio of the harmonic reducer I68.

The second joint comprises a second joint motor 72, a second synchronous pulley driving wheel 79, a second transmission belt 80, a second synchronous pulley driven wheel 82, a second harmonic speed reducer 83 and a second joint shell 70; the second joint motor 72 is a power source and is fixedly connected to the second joint shell 70 and connected with the second driving wheel 79 of the synchronous pulley through a flat key, the second driving wheel 79 of the synchronous pulley is connected with the second driven wheel 82 of the synchronous pulley through a second transmission belt 80, the second driven wheel 82 of the synchronous pulley is connected with the rigid gear of the second harmonic speed reducer 83 through a screw, and the flexible gear of the second harmonic speed reducer 83 is connected with the second joint shell 70 through a screw. The power is transmitted to the rigid gear of the second harmonic reducer 83 through the second synchronous pulley driving wheel 79, the second transmission belt 80 and the second synchronous pulley driven wheel 82, the flexible gear of the second harmonic reducer 83 is fixedly connected with the second joint shell 70, and the second joint, namely the quick-change connector, can slowly rotate in a pitching mode relative to the second joint shell 70 by utilizing the large reduction ratio of the second harmonic reducer 83. And an angle encoder 84 is installed on the second harmonic reducer 83 and is connected with the flexible gear shell of the second harmonic reducer 83 through a flange. The rotating speed of the second joint motor 72 can be controlled through pulses, and then the rotating angle of the pitching joint at the tail end can be adjusted according to the transmission ratio, so that parameterization of speed can be realized, namely the pitching angle speed can be adjusted.

The angular contact bearing includes angular contact bearing balls 73, an angular contact bearing outer race 77, and an angular contact bearing inner race 78; the outer ring 77 of the angular contact bearing is connected with the first joint shell 75 through screws, and the inner ring 78 of the angular contact bearing is connected with the second joint shell 70 through screws; angular contact bearing balls 73 are disposed between an angular contact bearing outer race 77 and an angular contact bearing inner race 78.

The cable is connected with the first joint motor 65 and the second joint motor 72 through the inner cable pipeline 69, and the rotation of the first joint is relatively independent from that of the inner cable pipeline 69, so that the first joint can rotate in 360 degrees without dead angles. When the first joint rotates horizontally, the first joint motor 65 serves as a power source, power is transmitted through the first synchronous pulley driving wheel 66, the first transmission belt 74 and the first synchronous pulley driven wheel 67, and speed reduction is achieved through the first harmonic speed reducer 68. When the second joint rotates in a pitching way, the second joint motor 72 serves as a power source, power is transmitted through the second synchronous pulley driving wheel 79, the second transmission belt 80 and the second synchronous pulley driven wheel 82, and the speed is reduced through the second harmonic speed reducer 83. Because of the larger reduction ratio and the smaller volume of the harmonic reducer, the remote control holder 4 can be stably and orderly operated by carrying various instruments.

The traction device 1 is installed above a frame 86 of a bearing vehicle body 5 through screws, the lifting device 2 is installed on a screw rod lifting mechanism 85 of the bearing vehicle body 5 through screws, a head end mechanical quick-change connector 64 and a head end electrical quick-change connector 76 of the remote control holder 4 are connected with a quick-change device interface 25 of the lifting device 2, a tail end tool electrical quick-change connector 81 is directly carried with measuring equipment or is carried with measuring equipment through an instrument holder, the measuring equipment is sent to a measuring point position by means of the lifting device 2, then the remote control holder 4 is operated to adjust the position and the angle of a visual angle to be measured, a remote control detector starts to work, the measurement and the investigation of an equipment pipeline are carried out, and the equipment carried by the holder is a binding type instrument. The mechanical quick-change connector 71 and the electrical quick-change connector 81 for the end tool can be quickly connected with a binding instrument such as a gamma camera, a laser range finder, an irradiation-resistant camera and the like, and are used for determining the conditions of indoor space layout, hot spot distribution, total amount of residual radionuclides and the like of the equipment.

As shown in fig. 15, the carriage body 5 includes a lead screw elevating mechanism 85, a carriage 86, and a leveling and driving mechanism 87; the screw elevating mechanism 85 and the leveling and driving mechanism 87 are fixed to the carriage 86.

As shown in fig. 16, the leveling and driving mechanism 87 includes a mecanum wheel 88, a wheel driving device 89, a first rotating shaft 90, a lead screw 91, a leveling motor 92, a reducer 93, a wheel support frame 94, and a second rotating shaft 95; the wheel driving device 89 is installed on a shaft hole of the wheel supporting frame 94 and is used for driving the Mecanum wheel 88 to rotate so as to realize the movement of the vehicle body in any direction. The leveling motor 92 employs an absolute value motor, and can instantly determine whether each wheel is grounded. The speed reducer 93 is fixed to a threaded hole in the frame 86 through a hinge, and the second rotating shaft 95 is mounted on a shaft hole in the frame 86. The lead screw 91 is connected with the wheel supporting frame 94 through a first rotating shaft 90, the lead screw 91 is connected with the speed reducer 93 through a flange, and the leveling motor 92 is installed on the flange of the speed reducer 93. The second rotating shaft 95, the wheel supporting frame 94, the first rotating shaft 90, the lead screw 91 and the frame 86 form a four-bar mechanism, and the Mecanum wheel 88 rotates around the second rotating shaft 95 through the lead screw 91, so that the leveling of the vehicle body is realized.

As shown in fig. 17, the screw lifting mechanism 85 includes a telescopic sleeve mounting bracket 97, a travel switch B98, a lifting screw 99, a screw fixing bracket 100, a worm gear reducer B101, a lifting screw motor 102, a telescopic sleeve mounting hole 96 is formed in the telescopic sleeve mounting bracket 97, the screw lifting mechanism 85 is mounted on the frame 86 through a screw, a nut of the lifting screw 99 is fixed on the telescopic sleeve mounting bracket 97 through welding, the lifting screw 99 is mounted on the screw fixing bracket 100, the worm gear reducer B101 is connected with the lifting screw 99 through a flat key, the worm gear reducer B101 is mounted on the frame 86 through a flange, the lifting screw motor 102 is connected with the worm gear reducer B101 through a flange, the worm gear reducer B101 is driven through the lifting screw motor 102, thereby realizing the rotation of the lifting screw 99 and driving the lifting of the telescopic sleeve mounting bracket 97. The travel switch B98 is mounted on the frame 86 by screws for controlling the upper and lower limit positions of the telescopic sleeve. The telescopic sleeve is integrally lifted on the screw lifting mechanism 85, so that the purposes of quickly replacing the tool at the tail end of the sleeve and increasing the lifting distance of the system are facilitated.

As shown in fig. 18, the control box 3 includes a control box 113, and a motion control module 103, a switching power supply 104, a heat sink 105, a UPS power supply 106, a switch 107, a temperature controller 108, an industrial personal computer 109, a servo driver 110, a relay 111, and a circuit breaker 112 are mounted through screws in a predetermined hole on the control box 113. The circuit breaker 112 is a main switch of the system power supply and controls the on-off of the power supply in a manual mode. The function of the temperature controller 108 is to automatically heat the control box when the temperature inside the control box is lower than 0 c and to stop heating when the temperature inside the control box is higher than 0 c. The switching power supply 104 provides 24V dc power to the motion control module 103, the servo driver 110 and the relay 111. An input signal interface of the motion control module 103 is an Ethernet interface for realizing data exchange with an industrial personal computer 109 through an Ethernet cable through a switch 107; the output signal sends a position command to the servo driver 110 via a control signal line. The output signal of the servo driver 110 is connected to the servo motor to control the servo motor to complete the positioning operation. The radiator 105 provides air convection power for the control box 113, so that the air inside the control box 113 forms convection, and the heat exchange capacity between the control box 113 and the outside is enhanced. The industrial personal computer 109 is connected with the switch 107 through the Ethernet. The switch 107 is connected to the human-computer interaction system through an Ethernet/optical fiber. The relay 111 is mainly used to control whether the servo driver 110 is powered on. The UPS power supply 106 may temporarily provide power to the system in the event of an unexpected power outage to achieve power protection and ensure that an operator can operate the device to a safe location. When the system works, the man-machine interaction system sends a control command to the industrial personal computer 109 through the switch 107, the industrial personal computer 109 receives the control command, the control command is converted into a command which can be identified by the motion control module 103, the command is issued to the motion control module 103 through the switch 107, the command is converted into a pulse by the motion control module 103, the pulse control signal is sent to the servo driver 110 through a control signal line, the servo driver 110 controls the servo motor to operate according to the received pulse control signal, and finally position control over the traction device 1, the lifting device 2, the remote control holder 4, the bearing vehicle body 5, the instrument holder 6 and the like is achieved.

As shown in fig. 19, the human-computer interaction system 114 is composed of a display unit 115, a control unit 116, a core processing unit 117, and a software unit 118. The display unit 115 is connected to the core processing unit 117 through a VGA interface, and is mainly used for displaying the status of the field device, including the position of each servo motor, the distance information of the ultrasonic sensor, the on-off information of the LED fill light, and the image information of the field environment. The control unit 116 is connected to the core processing unit 117 through a USB interface, and an operator inputs a control command through the control unit 116. The core processing unit 117 serves as a data processing and calculating unit for processing input data of the manipulation unit 116 and analyzing position information of the servo motor and distance information of the ultrasonic sensor. The software unit 118 is mainly used for presenting the operation state of the field device and converting the control instruction input by the control unit 116 into an instruction recognizable by the industrial personal computer 109, wherein the operation state of the field device includes whether the field device is powered on, whether the device is in a working state, position information of each axis, sensor data and the like; the input commands of the manipulation unit 116 include commands of forward, backward, left turn, right turn, up, down, and the like of the device. After the human-computer interaction system 114 is started, an operator opens the software unit 118, and after the software unit 118 is started, the operator inputs a control command through the control unit 116 to control the operation of the traction device 1, the lifting device 2, the remote control pan-tilt 4, the carrier vehicle body 5, the instrument holder 6 and other equipment. The remote control lifting device is used for realizing the functions of sending control information between human and machines, controlling the monitoring information display of a field sensor, analyzing data and the like in the remote control lifting device. The display unit 115 respectively displays various parameters of the system, image data of the environment where the system is located, real-time measurement data and other data information by using a left, middle and right triple screen; the control unit 116 controls the rocker with a single hand to realize various operations of the system; the core processing unit 117 performs data processing of the system by using a high-performance processor; the software unit 118, in combination with the control unit 116 and the display unit 115, displays different information contents in a triple-screen manner.

Claims

1. A high-radiation underground space source item investigation robot system is characterized in that: the device comprises a traction device (1), a lifting device (2), a control box (3), a remote control holder (4), a bearing vehicle body (5), an instrument clamp holder (6) and a human-computer interaction system; the traction device (1), the lifting device (2) and the control box (3) are installed on the bearing vehicle body (5), the remote control holder (4) is installed on the lifting device (2), the instrument holder (6) is installed on the remote control holder (4), and the man-machine interaction system controls the traction device (1), the lifting device (2), the remote control holder (4), the bearing vehicle body (5) and the instrument holder (6) to operate;

the bearing vehicle body (5) comprises a screw lifting mechanism (85), a vehicle frame (86) and a leveling and driving mechanism (87), wherein the screw lifting mechanism (85) and the leveling and driving mechanism (87) are fixed on the vehicle frame (86); the leveling and driving mechanism (87) comprises a Mecanum wheel (88), a wheel driving device (89), a first rotating shaft (90), a lead screw (91), a leveling motor (92), a speed reducer (93), a wheel supporting frame (94) and a second rotating shaft (95); the wheel driving device (89) is arranged on the wheel supporting frame (94) and is used for driving the Mecanum wheel (88) to rotate; the leveling motor (92) adopts an absolute value motor to instantly determine whether each wheel lands; the speed reducer (93) is fixed on the frame (86) through a hinge, the second rotating shaft (95) is installed on the frame (86), the lead screw (91) is connected with the wheel supporting frame (94) through the first rotating shaft (90), the lead screw (91) is connected with the speed reducer (93) through a flange, and the leveling motor (92) is installed on the flange of the speed reducer (93); a second rotating shaft (95), a wheel supporting frame (94), a first rotating shaft (90), a lead screw (91) and a frame (86) form a four-bar mechanism, and a Mecanum wheel (88) rotates around the second rotating shaft (95) through the lead screw (91), so that the leveling of a vehicle body is realized; the screw lifting mechanism (85) comprises a telescopic sleeve mounting rack (97), a travel switch B (98), a lifting screw (99), a screw fixing rack (100), a worm gear reducer B (101) and a lifting screw motor (102), a telescopic sleeve mounting hole (96) is formed in the telescopic sleeve mounting rack (97), the screw lifting mechanism (85) is mounted on the frame (86), a nut of the lifting screw (99) is welded on the telescopic sleeve mounting rack (97), the lifting screw (99) is mounted on the screw fixing rack (100), the worm gear reducer B (101) is connected with the lifting screw (99) through a flat key, the worm gear reducer B (101) is mounted on the frame (86) through a flange, the lifting screw motor (102) is connected with the worm gear reducer B (101) through a flange, the worm gear reducer B (101) is driven through the lifting screw motor (102), and therefore the rotation of the lifting screw (99) is realized, driving the telescopic sleeve mounting rack (97) to lift; the travel switch B (98) is arranged on the frame (86) and is used for controlling the upper limit position and the lower limit position of the telescopic sleeve; the control box (3) is arranged on a side plate of the frame (86), the traction device (1) is arranged above the frame (86), and the lifting device (2) is arranged on the screw rod lifting mechanism (85).

2. The high radiance subterranean space source item survey robot system of claim 1 wherein: the lifting device (2) comprises a stay wire type encoder (7), an encoder transfer wheel (8), a guide pulley (9), a five-stage telescopic sleeve upper stop block (10), a four-stage telescopic sleeve upper stop block (11), a three-stage telescopic sleeve upper stop block (12), a two-stage telescopic sleeve upper stop block (13), a steel wire rope clamp (14), a steel wire rope pull frame (15), a steel wire rope tail end rope clamp (16), a five-stage telescopic sleeve (17), a four-stage telescopic sleeve (18), a three-stage telescopic sleeve (19), a two-stage telescopic sleeve (20), a one-stage telescopic sleeve (21), a telescopic sleeve slider limiting plate (22), a polyurethane stop block (23), a lower stop block (24), a quick-change device interface (25), a guide rail A (26) and a slider A (27); the first-stage telescopic sleeve (21), the second-stage telescopic sleeve (20), the third-stage telescopic sleeve (19), the fourth-stage telescopic sleeve (18) and the fifth-stage telescopic sleeve (17) are sequentially sleeved together from inside to outside, and the sleeves of all stages can move up and down; the tail ends of the five-stage telescopic sleeve (17), the four-stage telescopic sleeve (18), the three-stage telescopic sleeve (19) and the second-stage telescopic sleeve (20) are respectively provided with two lower stop blocks (24); the upper ends of the five-stage telescopic sleeve (17), the four-stage telescopic sleeve (18), the three-stage telescopic sleeve (19) and the second-stage telescopic sleeve (20) are respectively provided with a five-stage telescopic sleeve upper stop block (10), a four-stage telescopic sleeve upper stop block (11), a three-stage telescopic sleeve upper stop block (12) and a second-stage telescopic sleeve upper stop block (13); a telescopic sleeve slider limiting plate (22) is arranged on the outer side of the first-stage telescopic sleeve (21), a polyurethane stop block (23) is arranged below the telescopic sleeve slider limiting plate (22), a slider A (27) is arranged on the telescopic sleeve slider limiting plate (22), the slider A (27) is connected with a guide rail A (26) to enable all stages of telescopic sleeves to slide relatively, and the guide rail A (26) is riveted on the inner side of the second-stage telescopic sleeve (20); the two-stage telescopic sleeve (20) is connected with the three-stage telescopic sleeve (19), the three-stage telescopic sleeve (19) is connected with the four-stage telescopic sleeve (18), and the four-stage telescopic sleeve (18) is connected with the five-stage telescopic sleeve (17) through telescopic sleeve slider limiting plates (22), polyurethane stoppers (23), sliders A (27) and guide rails A (26); two sliding blocks A (27) are arranged between the third-stage telescopic sleeve (19) and the fourth-stage telescopic sleeve (18) and between the fourth-stage telescopic sleeve (18) and the fifth-stage telescopic sleeve (17); a sliding block A (27) is arranged between the first-stage telescopic sleeve (21) and the second-stage telescopic sleeve (20) and between the second-stage telescopic sleeve (20) and the third-stage telescopic sleeve (19); the stay wire type encoder (7) is arranged at the upper end of the five-stage telescopic sleeve (17), and the encoder transfer wheel (8) and the guide pulley (9) are fixedly arranged at the upper end of the five-stage telescopic sleeve (17); the steel wire rope clamp (14) is arranged at the upper end of a steel wire rope tail end rope clamp (16); the wire rope tail end rope clamp (16) is arranged on the wire rope pulling frame (15), and the wire rope pulling frame (15) is arranged at the uppermost end of the primary telescopic sleeve (21); the tail end of the primary telescopic sleeve (21) is provided with a quick-change device interface (25); one end of the steel wire rope provides tension through the traction mechanism, and the other end of the steel wire rope sequentially passes through the steel wire rope clamp (14), the steel wire rope pulling frame (15) and the steel wire rope tail end rope clamp (16);

in the descending process, the gravity from the first-stage telescopic sleeve (21) to the fourth-stage telescopic sleeve (18) is attached to the fifth-stage telescopic sleeve (17), the gravity from the first-stage telescopic sleeve (21) to the third-stage telescopic sleeve (19) is attached to the fourth-stage telescopic sleeve (18), and the rest is done in the same way; the four-stage telescopic sleeve (18) to the first-stage telescopic sleeve (21) sequentially extend out from the large end to the small end through a telescopic sleeve sliding block limiting plate (22), a sliding block A (27) and a guide rail A (26); when the four-stage telescopic sleeve (18) descends to the limit length, the four-stage telescopic sleeve is blocked by the lower blocking block (24) of the five-stage telescopic sleeve (17), so that the three-stage telescopic sleeve (19), the two-stage telescopic sleeve (20) and the one-stage telescopic sleeve (21) continuously descend sequentially by means of gravity; when the telescopic sleeves at all stages are lowered to the limit length and are blocked by the lower stop blocks (24), the polyurethane stop blocks (23) play a role in buffering; in the ascending process, the steel wire rope pulls the steel wire rope pulling frame (15), and the steel wire rope pulling frame (15) pulls the primary telescopic sleeve (21) to ascend; when the primary telescopic sleeve (21) rises to the limit length, the primary telescopic sleeve is contacted with the stop block (13) on the secondary telescopic sleeve, so that the secondary telescopic sleeve (20) is driven to rise; and the first-stage telescopic sleeve (21), the second-stage telescopic sleeve (20), the third-stage telescopic sleeve (19) and the fourth-stage telescopic sleeve (18) are sequentially lifted back to the fifth-stage telescopic sleeve (17).

3. The high radiance subterranean space source item survey robot system of claim 1 wherein: the instrument holder (6) comprises a light instrument combination, a lamp group mounting bracket (33), a gamma camera fixing block (37), a holder framework and a waterproof box (38); the light instrument combination comprises a laser range finder (28), a light instrument set mounting block (29), an LED (30), a reversing camera (31) and an ultrasonic sensor (32); the clamp holder framework comprises a clamp holder framework square ring (34), a clamp holder framework square plate (35) and a clamp holder framework circular ring (36), the clamp holder framework square plate (35) is fixed on the front side of the inner ring of the clamp holder framework square ring (34) through arc compression welding, and the clamp holder framework circular ring (36) is fixed on the rear side of the clamp holder framework square ring (34) through arc compression welding; the gamma camera fixing block (37) is fixed at the rear part of the clamper framework square ring (34); the lighting instrument group mounting block (29) is fixed on the lighting group mounting support (33), the lighting group mounting support (33) is fixed on the front side of the holder framework square ring (34), the gamma camera fixing block (37) is provided with a groove for mounting a gamma camera, and the waterproof box (38) is fixed on the rear part of the holder framework square ring (34); the laser range finder (28), the LED (30), the reversing camera (31) and the ultrasonic sensor (32) are installed on the lighting instrument group installation block (29), and the lighting instrument group installation block (29), the lighting group installation support (33), the clamp holder framework square ring (34), the clamp holder framework square plate (35), the clamp holder framework circular ring (36) and the gamma camera fixing block (37) are made of duralumin 6061-74.

4. The high radiance subterranean space source item survey robot system of claim 1 wherein: the traction device (1) comprises a driving motor (39), a multi-stage speed reducer (40), a rope winding device (41), a supporting seat (42), a winding drum rack (43) and a travel switch A (44); the rope winding device (41) is fixed on a winding drum frame (43), the winding drum frame (43) is arranged on a supporting seat (42) and can transversely move on the supporting seat (42), and a travel switch A (44) is fixed on the supporting seat (42) and arranged at the maximum travel position of the winding drum frame (43) so that the winding drum frame (43) can transversely move and stop in time; the multi-stage speed reducer (40) is formed by connecting a gear speed reducer (45), a worm gear speed reducer A (46) and a planetary speed reducer (47) in series, the driving motor (39) comprises a first direct-current servo motor and a second motor which are connected in parallel, and a shaft gear (61) of the first motor and a shaft gear (63) of the second motor are simultaneously connected with an input shaft gear (62) of the gear speed reducer in parallel.

5. The high radiance subterranean space source item survey robot system of claim 4 wherein: the rope winding device (41) comprises a winding drum (48), a steel wire rope (49), a rope clamp (50), a sliding block B (51), a guide rail B (52), a synchronous belt shell (53), a ball screw (54), a nut (55), a nut fixing seat (56), a belt wheel I (58), a synchronous belt (59) and a belt wheel II (60); the ball screw (54), the nut (55) and the nut fixing seat (56) form a screw nut mechanism, the nut (55) is fixed on the nut fixing seat (56), the nut fixing seat (56) is fixed on the supporting seat (42), the ball screw (54) penetrates through the nut (55), two ends of the ball screw (54) are supported by bearings on the winding drum frame (43), the first belt wheel (58) is connected to the winding drum (48) through a key, the second belt wheel (60) is connected to one end of the ball screw (54) through a key, the first belt wheel (58), the synchronous belt (59) and the second belt wheel (60) form a synchronous belt mechanism, an output shaft (57) of the planetary reducer is connected with an input end cover of the winding drum (48), an output end cover of the winding drum (48) drives the first belt wheel (58) to rotate through the key connection, the first belt wheel (58) transmits power to the second belt wheel (60) through the synchronous belt (59), and the second belt wheel (60) transmits power to the ball screw (54) through the key connection, the lead screw nut mechanism and the synchronous pulley mechanism are matched with the single-layer rope winding to move transversely; the winding drum (48) is arranged on the winding drum frame (43), the winding drum (48) is provided with a rope clamp (50), the starting end of the steel wire rope (49) is clamped on the winding drum (48) through the rope clamp (50), one end of the winding drum (48) is connected with an output shaft (57) of the planetary reducer, and the output shaft (57) of the planetary reducer drives the winding drum (48) to rotate so as to carry out the wire winding and unwinding process; a synchronous belt shell (53) is arranged on the winding drum frame (43), a first belt wheel (58), a synchronous belt (59) and a second belt wheel (60) are positioned in the synchronous belt shell (53), a sliding block B (51) is fixed on the winding drum frame (43), a guide rail B (52) is fixed on the supporting seat (42), and the sliding block B (51) can transversely move on the guide rail B (52); the lower end of the rope clamp (50) is in a shape of a copying arc; the number of teeth of the first belt wheel (58) and the second belt wheel (60) is set to realize that the ball screw (54) drives the reel frame (43) to match with the reel (48) to roll up the rope, so that the steel wire rope (49) is compactly arranged on the reel (48); the winding drum (48) carries out the wire winding and unwinding process by receiving the forward and reverse rotation of the output shaft of the multi-stage speed reducer (40), and simultaneously, the ball screw (54) is rotated forward and reverse, so that the rotation of the ball screw (54) is converted into the transverse movement of the sliding block B (51) fixed on the winding drum frame (43) on the guide rail B (52), and the transverse movement of the winding drum frame (43) is realized.

6. The high radiance subterranean space source item survey robot system of claim 1 wherein: the remote control holder (4) comprises a first joint rotating horizontally, a second joint rotating in pitching, an angular contact bearing, an inner cable pipeline (69) and an angle encoder (84); the first joint is connected with the second joint through an angular contact bearing; the first joint comprises a first joint motor (65), a first synchronous pulley driving wheel (66), a first transmission belt (74), a first synchronous pulley driven wheel (67), a first harmonic reducer (68) and a first joint shell (75); the first joint motor (65) is fixedly connected to a first joint shell (75) and is connected with a first synchronous pulley driving wheel (66) through a flat key, the first synchronous pulley driving wheel (66) is connected with a first synchronous pulley driven wheel (67) through a first transmission belt (74), the first synchronous pulley driven wheel (67) is connected with a rigid gear of a first harmonic reducer (68), and a flexible gear of the first harmonic reducer (68) is connected with a second joint shell (70); the second joint comprises a second joint motor (72), a second synchronous pulley driving wheel (79), a second transmission belt (80), a second synchronous pulley driven wheel (82), a second harmonic reducer (83) and a second joint shell (70); the second joint motor (72) is fixedly connected to the second joint shell (70) and is connected with the second synchronous pulley driving wheel (79) through a flat key, the second synchronous pulley driving wheel (79) is connected with the second synchronous pulley driven wheel (82) through a second transmission belt (80), the second synchronous pulley driven wheel (82) is connected with a rigid gear of the second harmonic reducer (83), and a flexible gear of the second harmonic reducer (83) is connected with the second joint shell (70); an angle encoder (84) is installed on the second harmonic reducer (83) and is connected with a flexible gear shell of the second harmonic reducer (83) through a flange; the angular contact bearing comprises angular contact bearing balls (73), an angular contact bearing outer ring (77) and an angular contact bearing inner ring (78); an outer ring (77) of the angular contact bearing is connected with a first joint shell (75), and an inner ring (78) of the angular contact bearing is connected with a second joint shell (70); angular contact bearing balls (73) are arranged between an angular contact bearing outer ring (77) and an angular contact bearing inner ring (78); the cable is connected with the joint one motor (65) and the joint two motor (72) through an inner cable pipeline (69).

7. The high radiance subterranean space source item survey robot system of claim 6, wherein: the remote control holder (4) is connected with a quick-change device interface (25) of the lifting device (2) through a head end mechanical quick-change connector (64) and a head end electrical quick-change connector (76); the remote control holder (4) carries measuring equipment through the electric quick-change connector (81) of the tail end tool, or the remote control holder (4) is provided with the instrument holder (6) through the mechanical quick-change connector (71) of the tail end tool, and the instrument holder (6) carries measuring equipment.

8. The high radiance subterranean space source item survey robot system of claim 3 wherein: the control box (3) comprises a control box body (113), and a motion control module (103), a switching power supply (104), a radiator (105), a UPS (106), a switch (107), a temperature controller (108), an industrial personal computer (109), a servo driver (110), a relay (111) and a circuit breaker (112) are installed in a preformed hole in the control box body (113); the circuit breaker (112) is a main switch of a system power supply and controls the on-off of the power supply in a manual mode; when the internal temperature of the control box (3) is lower than 0 ℃, the temperature controller (108) automatically heats the control box (3), and when the internal temperature of the control box (3) is higher than 0 ℃, the heating is stopped; the switching power supply (104) provides a 24V direct current power supply for the motion control module (103), the servo driver (110) and the relay (111); an input signal interface of the motion control module (103) is an Ethernet interface for realizing data exchange between an Ethernet cable and an industrial personal computer (109) through an exchanger (107), and an output signal sends a position instruction to a servo driver (110) through a control signal line; the output signal of the servo driver (110) is connected with the servo motor to control the servo motor to complete the positioning operation; the radiator (105) provides air convection power for the control box body (113), so that the air in the control box body (113) forms convection, and the heat exchange capacity between the control box body (113) and the outside is enhanced; the switch (107) is connected with the human-computer interaction system through Ethernet/optical fiber; the relay (111) is used for controlling whether the power supply of the servo driver (110) is switched on or not; a UPS power supply (106) temporarily powers the system in the event of an unexpected power outage of the system; the man-machine interaction system sends a control command to the industrial personal computer (109) through the switch (107), the industrial personal computer (109) receives the control command, the control command is converted into an instruction which can be identified by the motion control module (103), the instruction is issued to the motion control module (103) through the switch (107), the motion control module (103) converts the instruction into a pulse, a pulse control signal is sent to the servo driver (110) through a control signal line, the servo driver (110) controls the servo motor to operate according to the received pulse control signal, and finally position control over the traction device (1), the lifting device (2), the remote control holder (4), the bearing vehicle body (5) and the instrument holder (6) is achieved.

9. The high radiance subterranean space source item survey robot system of claim 8, wherein: the human-computer interaction system (114) consists of a display unit (115), a control unit (116), a core processing unit (117) and a software unit (118); the display unit (115) is connected with the core processing unit (117) through a VGA interface and is used for displaying the state of the field equipment, including the position of each servo motor, the distance information of the ultrasonic sensor, the on-off information of the LED and the image information of the field environment; the control unit (116) is connected with the core processing unit (117) through a USB interface, and an operator inputs a control instruction through the control unit (116); the core processing unit (117) is used as a data processing and calculating unit and used for processing input data of the control unit (116) and analyzing position information of the servo motor and distance information of the ultrasonic sensor; the software unit (118) is used for presenting the operation state of the field device, including whether the field device is electrified or not, whether the device is in a working state or not, the position information of each shaft and the sensor data; the input instructions of the control unit (116) comprise forward, backward, left-turn, right-turn, ascending and descending instructions of the equipment; after the human-computer interaction system (114) is started, an operator opens the software unit (118), and the operator inputs a control command through the control unit (116) to control the traction device (1), the lifting device (2), the remote control holder (4), the bearing vehicle body (5) and the instrument holder (6) to operate.