Nuclear decommissioning robot based on laser cutting technology teleoperation

Abstract

The invention relates to the technical field of nuclear facility decommissioning robots, and discloses a nuclear decommissioning robot based on laser cutting technology teleoperation, which comprises a supporting seat, a mechanical arm assembly, a visual sensor and a laser cutting head. A crawler belt is arranged at the bottom of the supporting base and used for moving and positioning the robot. The mechanical arm assembly comprises a main arm, a supporting arm, a short arm and an end effector, and precise operation is achieved through cooperation of a multi-stage motor and an air cylinder. The visual sensor comprises a radiation sensor, a force feedback sensor and a temperature sensor and is used for monitoring environmental parameters and operation states in real time. The laser cutting head is provided with a focus lens, a cooling system and an energy regulator, and heat dissipation is achieved through a cooling liquid circulating pipe. The control system comprises a wireless communication module, a control unit, an image processing unit and a camera, and remote operation and real-time monitoring are achieved. According to the invention, the safety, flexibility and efficiency of nuclear decommissioning work are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear facility decommissioning robots, in particular to a nuclear decommissioning robot remotely operated based on laser cutting technology. Background Art

[0002] The decommissioning of nuclear facilities is a crucial component of the nuclear industry, involving numerous complex and high-risk operations. Traditional decommissioning operations rely primarily on manual labor, which is not only inefficient but also extremely dangerous. With the recent development of robotics and laser cutting technologies, teleoperated robots based on laser cutting have shown great potential in nuclear decommissioning operations. However, existing decommissioning robots still have many shortcomings in terms of mobility, operational flexibility, environmental monitoring, and multi-tool adaptability.

[0003] First, existing nuclear decommissioning robots have poor mobility and usually need to operate on relatively flat ground, making them difficult to cope with complex terrain environments. Second, the robotic arm's operational flexibility is insufficient, making it impossible to perform precise operations at multiple angles and postures, limiting its application in confined spaces. In addition, existing nuclear decommissioning robots lack an effective environmental monitoring system and are unable to monitor key parameters such as radiation intensity and temperature in the environment in real time, making it difficult to ensure operational safety. Finally, existing end effectors are mostly single tools that do not support rapid replacement, limiting the robot's versatility and adaptability.

[0004] To address the above issues, the present invention proposes a remotely operated nuclear decommissioning robot based on laser cutting technology. This robot features the following innovations: First, a tracked support design improves the robot's mobility and terrain adaptability. Second, a multi-jointed robotic arm and multi-motor drive system enable flexible multi-angle and multi-posture operation. Third, multiple sensors are integrated to monitor key environmental parameters such as radiation intensity and temperature in real time to ensure operational safety. Finally, a quick-change interface design supports the flexible replacement of multiple tools, enhancing the robot's versatility and adaptability. These innovations collectively address the shortcomings of existing nuclear decommissioning robots in terms of mobility, operational flexibility, environmental monitoring, and multi-tool adaptability, providing a more efficient, safe, and reliable technical solution for nuclear decommissioning operations. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present invention provides a nuclear decommissioning robot remotely operated based on laser cutting technology, which addresses the problems of low safety, insufficient flexibility and limited efficiency in operating in high radiation environments during the decommissioning of existing nuclear facilities.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a nuclear decommissioning robot remotely operated based on laser cutting technology, comprising: Support base with tracks at the bottom for movement and positioning of the robot; A mechanical arm assembly is mounted on the support base, and the mechanical arm assembly includes: The main arm is connected to the support base via a servo motor, and the servo motor is used to drive the main arm to rotate 360 degrees in the support base. The end of the main arm is connected to the support arm, and a first motor is installed at the connection between the main arm and the support arm to drive the angle adjustment of the support arm; The short arm is connected to the support arm through the cooperation of the cylinder and the piston. A second motor is installed at the connection between the support arm and the cylinder for driving the angle adjustment of the cylinder. A connecting disk is fixed to the end of the piston, and a small motor is fixed to one side of the connecting disk. The driving end of the small motor is fixedly connected to the short arm for driving the angle adjustment of the short arm. An end effector is provided at the end of the short arm. The end effector is integrated with a quick-change interface for adapting to a laser cutting head or other working tools. The visual sensor is fixed on one side of the short arm and includes a radiation sensor, a force feedback sensor and a temperature sensor. The radiation sensor is fixed on the outside of the end effector. The end effector is connected to the short arm through a force feedback sensor for real-time monitoring of the ambient radiation intensity and robotic arm operation feedback. The temperature sensor is installed inside the laser cutting head for detecting the internal temperature for subsequent cooling.

[0007] Preferably, the laser cutting head comprises a focusing lens, a cooling system, an energy regulator and a cooling liquid circulation pipe, wherein: A focusing lens is installed at the end of the laser cutting head, and the laser cutting head forms a focusing structure through the focusing lens. The energy regulator is installed on one side of the main arm, and the cooling system is installed above the energy regulator. The cooling system realizes heat dissipation of the laser cutting head through a loose coolant circulation pipe.

[0008] Preferably, the coolant circulation volume calculation formula of the cooling system is: Q=k·ΔT, wherein Q is the coolant circulation volume, k is the cooling coefficient, and ΔT is the temperature difference between the laser cutting head and the environment.

[0009] Preferably, the laser cutting head forms an energy regulation structure through an energy regulator, the adjustment range of the energy regulator is 0 to 1000 watts, and the relationship between the cutting speed and laser energy of the laser cutting head is: V=P / (ρ·d), where V is the cutting speed, P is the laser power, ρ is the density of the material, and d is the thickness of the material.

[0010] Preferably, the end effector forms a multifunctional structure through a quick-change interface with a variety of tools. The quick-change interface adopts a dual mechanism of electromagnetic adsorption and mechanical locking. The electromagnetic adsorption force is calculated as follows: F=kmI 2A, where F is the electromagnetic adsorption force, km is the magnetic coefficient, I is the current intensity, and A is the electromagnetic adsorption area.

[0011] Preferably, the nuclear decommissioning robot further comprises a control system, which includes a wireless communication module, a control unit, an image processing unit and a camera, wherein: The visual sensor forms a monitoring structure through the cooperation between the camera and the image processing unit, and the radiation sensor forms a real-time data transmission structure through the wireless communication module and the control unit.

[0012] Preferably, the camera forms a real-time monitoring structure through the cooperation between the image processing unit and the control unit. The processing algorithm of the image processing unit adopts a convolutional neural network, and the training loss function of the convolutional neural network is: L=-∑iyilog(pi), where yi is the actual label and pi is the predicted probability.

[0013] Preferably, the control unit is electrically connected to the first motor, the second motor, the cylinder, the small motor, the visual sensor, the force feedback sensor, the temperature sensor and the radiation sensor, and is used to control and monitor the operating status of the robotic arm assembly.

[0014] The present invention provides a remotely operated nuclear decommissioning robot based on laser cutting technology. It has the following beneficial effects: The present invention achieves precise operation of complex spaces and significantly improves operational flexibility through a multi-stage robotic arm design and a variety of angle adjustment mechanisms. The end effector adapts to a variety of operating tools through a quick-change interface to meet different task requirements and enhance versatility. The visual sensor and control system work together to achieve real-time monitoring of environmental radiation, robotic arm operating status and cutting process, thereby improving operational safety and accuracy. The laser cutting head is equipped with a cooling system to ensure stability during long-term high-power operations, further improving operational efficiency. In summary, the present invention provides a high-precision, high-reliability and multifunctional nuclear decommissioning robot that can be widely used in nuclear facility decommissioning and other operational scenarios in high-risk environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A perspective view of the present invention; Figure 2 A schematic diagram of the support base and crawler track of the present invention; Figure 3 is a schematic diagram of a robotic arm assembly of the present invention; Figure 4 Schematic diagram of the laser cutting head of the present invention; Figure 5 is a detailed schematic diagram of the end effector and the visual sensor of the present invention; Figure 6This is an exploded view of the end effector of the present invention.

[0016] Among them, 1. Support base; 11. Track; 2. Main arm; 21. Support arm; 22. First motor; 23. Second motor; 24. Cylinder; 25. Piston; 26. Connecting plate; 27. Small motor; 28. Short arm; 29. End effector; 291. Quick change interface; 3. Laser cutting head; 31. Focusing lens; 32. Cooling system; 33. Energy regulator; 34. Coolant circulation pipe; 4. Visual sensor; 41. Radiation sensor; 42. Force feedback sensor. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] The present invention provides a nuclear decommissioning robot remotely operated based on laser cutting technology, which is designed to solve the safety, flexibility and efficiency problems of operating in a high radiation environment during the decommissioning of nuclear facilities. Figure 1 To the attached Figure 6 Specific embodiments of the present invention are described in detail.

[0019] like Figure 1 As shown, the overall structure of the nuclear decommissioning robot of the present invention includes a support base 1, a robotic arm assembly, a visual sensor 4, a laser cutting head 3, and a control system. Tracks 11 are located at the bottom of the support base 1 to facilitate robot movement and positioning. The material and structure of the tracks 11 have been optimized to accommodate the irregular ground conditions within nuclear facilities, ensuring the robot's stability and mobility over complex terrain. The support base 1 serves as the robot's base, providing a stable support and platform, enabling the robotic arm assembly to operate efficiently in high-radiation environments.

[0020] like Figure 3As shown, the robotic arm assembly is installed on the support base 1, and mainly includes a main arm 2, a support arm 21, a short arm 28 and an end effector 29. The main arm 2 is connected to the support base 1 through a servo motor, and the servo motor is used to drive the main arm 2 to rotate 360 degrees in the support base 1, thereby significantly expanding the operating range. The length and strength of the main arm 2 are carefully designed to ensure sufficient rigidity and stability when performing operations in complex spaces. The support arm 21 is connected to the end of the main arm 2, and a first motor 22 is installed at the connection between the main arm 2 and the support arm 21. The first motor 22 is used to drive the angle adjustment of the support arm 21 to enhance the flexibility of the robotic arm. The length and angle adjustment range of the support arm 21 enable the robot to perform precise operations in a small space.

[0021] like Figure 3 As shown, the short arm 28 is connected to the support arm 21 through the cooperation of the cylinder 24 and the piston 25. A second motor 23 is installed at the connection between the support arm 21 and the cylinder 24, and the second motor 23 is used to drive the angle adjustment of the cylinder 24. A connecting disk 26 is fixed to the end of the piston 25, and a small motor 27 is fixed to one side of the connecting disk 26. The driving end of the small motor 27 is fixedly connected to the short arm 28 for driving the angle adjustment of the short arm 28. The design of the short arm 28 further enhances the flexibility and operating accuracy of the robot arm, enabling it to adapt to more complex working environments. An end effector 29 is provided at the end of the short arm 28, and the end effector 29 is integrated with a quick-change interface 291 for adapting to the laser cutting head 3 or other working tools. The quick-change interface 291 adopts a dual mechanism of electromagnetic adsorption and mechanical locking to ensure the speed and reliability of tool replacement. The calculation formula of the electromagnetic adsorption force is , where F is the electromagnetic attraction force, km is the magnetic coefficient, I is the current intensity, and A is the electromagnetic attraction area. By adjusting the current intensity and electromagnetic attraction area, different tools can be quickly replaced to meet diverse operational needs.

[0022] like Figure 4 As shown in the figure, the laser cutting head 3 is the core working tool, including a focusing lens 31, a cooling system 32, an energy regulator 33 and a coolant circulation pipe 34. The focusing lens 31 is installed at the end of the laser cutting head 3. The design of the focusing lens 31 allows the laser energy to be concentrated on the cutting point, ensuring the efficiency and accuracy of the cutting. The cooling system 32 is installed above the energy regulator 33, and the heat dissipation of the laser cutting head 3 is achieved through the loose coolant circulation pipe 34. The calculation formula for the coolant circulation amount is: , where Q is the coolant circulation volume, k is the cooling coefficient, and ΔT is the temperature difference between the laser cutting head 3 and the environment. By monitoring the temperature difference in real time and adjusting the coolant circulation volume, the stability and reliability of the laser cutting head 3 during long-term high-power operation can be ensured. The energy regulator 33 is installed on one side of the main arm 2, with an adjustment range of 0 to 1000 watts, and can dynamically adjust the laser power according to the working environment and task requirements. The relationship between the cutting speed of the laser cutting head 3 and the laser energy is ⋅, where V is the cutting speed, P is the laser power, ρ is the material density, and d is the material thickness. By adjusting the laser power, you can optimize the cutting speed and improve work efficiency.

[0023] like Figure 5 As shown, the visual sensor 4 is fixed to one side of the short arm 28, and includes a radiation sensor 41, a force feedback sensor 42 and a temperature sensor. The radiation sensor 41 is fixed to the outside of the end effector 29 and is used to monitor the ambient radiation intensity in real time. The sensitivity and response speed of the radiation sensor 41 have been optimized and can provide accurate monitoring data in a high-radiation environment. The force feedback sensor 42 connects the end effector 29 and the short arm 28 and is used to monitor the operational feedback of the robotic arm in real time to ensure safety and stability during operation. The temperature sensor is installed inside the laser cutting head 3 to detect the internal temperature so that the cooling system 32 can adjust the circulation volume of the coolant in time according to temperature changes to ensure the normal operation of the laser cutting head 3.

[0024] like Figure 6 As shown, the end effector 29 is connected to the laser cutting head 3 or other working tools through a quick-change interface 291. The quick-change interface 291 adopts a dual mechanism of electromagnetic adsorption and mechanical locking. The calculation formula of the electromagnetic adsorption force is , where F is the electromagnetic attraction force, km is the magnetic coefficient, I is the current intensity, and A is the electromagnetic attraction area. By adjusting the current intensity and electromagnetic attraction area, different tools can be quickly replaced to meet diverse operational needs. The mechanical locking mechanism ensures the tool's firmness and stability during use, preventing it from falling off due to insufficient electromagnetic attraction.

[0025] like Figure 2 As shown, the design of the support base 1 and tracks 11 ensures the robot's mobility and positioning accuracy on complex terrain. The material and structure of the tracks 11 have been optimized to adapt to the irregular ground conditions within nuclear facilities. A servo motor and control system are housed within the support base 1. The servo motor drives the tracks 11, and the control system's wireless communication module is electrically connected to the track 11's drive system, enabling remote operation and real-time monitoring.

[0026] like Figure 5As shown, the visual sensor 4 forms a monitoring structure through the cooperation between a camera and an image processing unit. The camera is fixed to one side of the short arm 28 and can capture real-time image information during the robot arm's operation. The image processing unit uses a convolutional neural network with a training loss function of L = -∑iyilog(pi), where yi is the actual label and pi is the predicted probability. The convolutional neural network can process and analyze the images captured by the camera in real time, identify obstacles and target objects in the working environment, and provide accurate visual feedback information. The radiation sensor 41 is fixed to the outside of the end effector 29 and is used to monitor the ambient radiation intensity in real time. The radiation sensor 41 forms a real-time data transmission structure with the control unit via a wireless communication module, ensuring that the control unit can obtain environmental radiation data in a timely manner, adjust the operation strategy, and improve safety. The force feedback sensor 42 is connected to the end effector 29 and the short arm 28 and provides real-time feedback on the robot arm's operation, ensuring safety and stability during operation. A temperature sensor is installed inside the laser cutting head 3 to monitor the internal temperature, allowing the cooling system 32 to adjust the coolant circulation volume according to temperature changes to ensure the normal operation of the laser cutting head 3.

[0027] like Figure 6 As shown, the control system includes a wireless communication module, a control unit, an image processing unit and a camera. The wireless communication module is used to realize real-time data transmission between the control unit and each sensor, ensuring that the control unit can obtain environmental parameters and operating status information in a timely manner. The control unit is electrically connected to the first motor 22, the second motor 23, the cylinder 24, the small motor 27, the visual sensor 4, the force feedback sensor 42, the temperature sensor and the radiation sensor 41, and is used to control and monitor the operating status of the robotic arm assembly. The control unit sends control instructions through the wireless communication module based on the received environmental parameters and operating status information to achieve precise control of the robotic arm assembly. The camera forms a real-time monitoring structure through the cooperation between the image processing unit and the control unit. The image processing unit adopts a convolutional neural network, which can process and analyze the images captured by the camera in real time, identify obstacles and target objects in the working environment, and provide accurate visual feedback information.

[0028] During specific implementation, the application of the nuclear decommissioning robot of the present invention in nuclear facility decommissioning operations is as follows: First, the robot uses tracks 11 to maneuver and position itself on the irregular terrain within the nuclear facility. S1: The material and structural design of tracks 11 ensure the robot's stability and mobility on complex terrain. The servo motor and control system within support base 1 receive operating instructions via a wireless communication module, driving tracks 11 and achieving precise movement and positioning of the robot.

[0029] Next, the robotic arm assembly prepares for the operation, S2: The main arm 2 rotates 360 degrees in the support base 1 through the servo motor and is adjusted to the appropriate position according to the requirements of the operation task. The support arm 21 at the end of the main arm 2 is driven by the first motor 22 to adjust the angle to adapt to the working space. The short arm 28 at the end of the support arm 21 is telescopic and angle-adjusted through the cooperation of the cylinder 24 and the piston 25. The small motor 27 drives the further angle adjustment of the short arm 28 to ensure that the end effector 29 can accurately align with the target object. The end effector 29 is connected to the laser cutting head 3 through the quick-change interface 291. The quick-change interface 291 adopts a dual mechanism of electromagnetic adsorption and mechanical locking. The calculation formula of the electromagnetic adsorption force is: , where F is the electromagnetic attraction force, km is the magnetic coefficient, I is the current intensity, and A is the electromagnetic attraction area. By adjusting the current intensity and electromagnetic attraction area, the laser cutting head 3 can be quickly replaced to meet different task requirements.

[0030] Next, the visual sensor 4 performs environmental monitoring and operational feedback. S3: A camera is fixed to one side of the short arm 28 and can capture real-time image information during the robot arm's operation. The image processing unit uses a convolutional neural network with a training loss function of L = -∑iyilog(pi), where yi is the actual label and pi is the predicted probability. The convolutional neural network processes and analyzes the images captured by the camera in real time, identifying obstacles and target objects in the operating environment and providing accurate visual feedback. A radiation sensor 41 is fixed to the outside of the end effector 29 and is used to monitor the ambient radiation intensity in real time. A wireless communication module forms a real-time data transmission structure between the radiation sensor 41 and the control unit, ensuring that the control unit can obtain environmental radiation data in a timely manner, adjust operational strategies, and improve safety. A force feedback sensor 42 is connected to the end effector 29 and the short arm 28 and provides real-time operational feedback on the robot arm, ensuring safety and stability during operation. A temperature sensor is installed inside the laser cutting head 3 to monitor the internal temperature, allowing the cooling system 32 to adjust the coolant circulation rate according to temperature changes to ensure the normal operation of the laser cutting head 3.

[0031] Then, the laser cutting head 3 performs the cutting operation. S4: A focusing lens 31 is installed at the end of the laser cutting head 3. The design of the focusing lens 31 enables the laser energy to be concentrated on the cutting point, ensuring the efficiency and accuracy of the cutting. The cooling system 32 is installed above the energy regulator 33, and the heat dissipation of the laser cutting head 3 is achieved through the loose coolant circulation pipe 34. The calculation formula of the coolant circulation amount is , where Q is the coolant circulation volume, k is the cooling coefficient, and ΔT is the temperature difference between the laser cutting head 3 and the environment. By monitoring the temperature difference in real time and adjusting the coolant circulation volume, the stability and reliability of the laser cutting head 3 during long-term high-power operation can be ensured. The energy regulator 33 is installed on one side of the main arm 2, with an adjustment range of 0 to 1000 watts, and can dynamically adjust the laser power according to the working environment and task requirements. The relationship between the cutting speed of the laser cutting head 3 and the laser energy is , where V is the cutting speed, P is the laser power, ρ is the material density, and d is the material thickness. By adjusting the laser power, you can optimize the cutting speed and improve work efficiency.

[0032] During the actual operation process, the robot monitors the working environment in real time through the visual sensor 4 to ensure the accuracy and safety of the operation. S5: The image information captured by the camera is processed in real time by the image processing unit. The convolutional neural network identifies obstacles and target objects in the working environment and provides accurate visual feedback information. The radiation sensor 41 monitors the environmental radiation intensity in real time and transmits it to the control unit through the wireless communication module. The control unit adjusts the operation strategy according to the radiation data to ensure the safety of the operator. The force feedback sensor 42 monitors the operation feedback of the robot arm in real time to ensure safety and stability during operation. The temperature sensor detects the temperature inside the laser cutting head 3. The cooling system 32 adjusts the circulation volume of the coolant in time according to the temperature change to ensure the normal operation of the laser cutting head 3.

[0033] Finally, the control system coordinates the operation of each component to achieve remote operation and real-time monitoring, S6. The control unit is electrically connected to the first motor 22, the second motor 23, the cylinder 24, the small motor 27, the visual sensor 4, the force feedback sensor 42, the temperature sensor and the radiation sensor 41, and is used to control and monitor the operating status of the robotic arm assembly. The control unit receives operating instructions through the wireless communication module and sends control signals to each motor and cylinder to drive the robotic arm assembly for precise operation. The image processing unit uses a convolutional neural network to process and analyze the images captured by the camera in real time, providing accurate visual feedback information. The control unit transmits real-time data to the operator through the wireless communication module. The operator can adjust the operating instructions based on the real-time feedback information to achieve remote control of the robot.

[0034] The nuclear decommissioning robot of the present invention realizes precise operation of complex spaces through a multi-stage robotic arm design and a variety of angle adjustment mechanisms, significantly improving operational flexibility. The end effector adapts to a variety of operating tools through a quick-change interface to meet the needs of different tasks and enhance versatility. The visual sensor and the control system work together to achieve real-time monitoring of environmental radiation, robotic arm operating status and cutting process, thereby improving operational safety and accuracy. The laser cutting head is equipped with a cooling system to ensure stability during long-term high-power operations, further improving operational efficiency. In summary, the present invention provides a high-precision, high-reliability and multifunctional nuclear decommissioning robot that can be widely used in nuclear facility decommissioning and other operational scenarios in high-risk environments.

[0035] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A nuclear decommissioning robot remotely operated based on laser cutting technology, characterized in that: include: A support base (1) having a crawler track (11) at the bottom for movement and positioning of the robot; A mechanical arm assembly is mounted on the support base (1), and the mechanical arm assembly comprises: The main arm (2) is connected to the support base (1) via a servo motor, and the servo motor is used to drive the main arm (2) to rotate 360 degrees in the support base (1). The end of the main arm (2) is connected to the support arm (21). A first motor (22) is installed at the connection between the main arm (2) and the support arm (21) for driving the angle adjustment of the support arm (21); A short arm (28) is connected to the support arm (21) through the cooperation of the cylinder (24) and the piston (25); a second motor (23) is installed at the connection between the support arm (21) and the cylinder (24) for driving the angle adjustment of the cylinder (24); a connecting disk (26) is fixed to the end of the piston (25); a small motor (27) is fixed to one side of the connecting disk (26); a driving end of the small motor (27) is fixedly connected to the short arm (28) for driving the angle adjustment of the short arm (28); an end effector (29) is provided at the end of the short arm (28); the end effector (29) is integrated with a quick-change interface (291) for adapting to a laser cutting head (3) or other working tools; The visual sensor (4) is fixed on one side of the short arm (28), and includes a radiation sensor (41), a force feedback sensor (42) and a temperature sensor. The radiation sensor (41) is fixed on the outside of the end effector (29). The end effector (29) is connected to the short arm (28) through the force feedback sensor (42) and is used to monitor the environmental radiation intensity and the robot arm operation feedback in real time. The temperature sensor is installed inside the laser cutting head (3) and is used to detect the internal temperature for subsequent cooling.

2. The nuclear decommissioning robot remotely operated based on laser cutting technology according to claim 1, characterized in that: The laser cutting head (3) comprises a focusing lens (31), a cooling system (32), an energy regulator (33) and a cooling liquid circulation pipe (34), wherein: A focusing lens (31) is installed at the end of the laser cutting head (3), and the laser cutting head (3) forms a focusing structure through the focusing lens (31). The energy regulator (33) is installed on one side of the main arm (2), and the cooling system (32) is installed above the energy regulator (33). The cooling system (32) realizes heat dissipation of the laser cutting head (3) through a loose coolant circulation pipe (34).

3. The laser cutting technology-based remotely operated nuclear decommissioning robot according to claim 2, characterized in that: The calculation formula for the coolant circulation volume of the cooling system (32) is: Q=k·ΔT, where Q is the coolant circulation volume, k is the cooling coefficient, and ΔT is the temperature difference between the laser cutting head (3) and the environment.

4. The laser cutting technology-based remotely operated nuclear decommissioning robot according to claim 2, characterized in that: The laser cutting head (3) forms an energy regulating structure through an energy regulator (33), the regulating range of the energy regulator (33) is 0 to 1000 watts, and the relationship between the cutting speed of the laser cutting head (3) and the laser energy is: V=P / (ρ·d), wherein V is the cutting speed, P is the laser power, ρ is the density of the material, and d is the thickness of the material.

5. The laser cutting technology-based remotely operated nuclear decommissioning robot according to claim 1, characterized in that: The end effector (29) forms a multifunctional structure by quickly changing interfaces (291) with various tools. The quick changing interface (291) adopts a dual mechanism of electromagnetic adsorption and mechanical locking. The electromagnetic adsorption force is calculated as follows: F=kmI 2 A, where F is the electromagnetic adsorption force, km is the magnetic coefficient, I is the current intensity, and A is the electromagnetic adsorption area.

6. The laser cutting technology-based remotely operated nuclear decommissioning robot according to claim 1, characterized in that: The nuclear decommissioning robot also includes a control system, which includes a wireless communication module, a control unit, an image processing unit and a camera, wherein: The visual sensor (4) forms a monitoring structure through the cooperation between a camera and an image processing unit, and the radiation sensor (41) forms a real-time data transmission structure through a wireless communication module and a control unit.

7. The laser cutting technology-based remotely operated nuclear decommissioning robot according to claim 6, characterized in that: The camera forms a real-time monitoring structure through the cooperation between the image processing unit and the control unit. The processing algorithm of the image processing unit adopts a convolutional neural network. The training loss function of the convolutional neural network is: L=-∑iyilog(pi), where yi is the actual label and pi is the predicted probability.

8. The laser cutting technology-based remotely operated nuclear decommissioning robot according to claim 6, characterized in that: The control unit is electrically connected to the first motor (22), the second motor (23), the cylinder (24), the small motor (27), the visual sensor (4), the force feedback sensor (42), the temperature sensor and the radiation sensor (41), and is used to control and monitor the operating status of the robotic arm assembly.

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