Multifunctional variable-diameter nuclear waste conveying pipeline cleaning robot

Abstract

The invention discloses a multifunctional variable-diameter nuclear waste conveying pipeline cleaning robot, and relates to the technical field of nuclear industry pipeline maintenance equipment.The multifunctional variable-diameter nuclear waste conveying pipeline cleaning robot comprises a walking module, a variable-diameter module, a cleaning module and a detection module, and all the modules are integrated on a machine body frame; a collaborative linkage design of a series elastic driver (a main driving end) and a bionic joint leg (a driven wheel end) is adopted as the core, the main driving end adapts to nuclear pipeline advancing impact through elastic buffering, and the driven wheel end adapts to a complex inner wall through flexible posture adjustment. The variable-diameter module is linked with a connecting rod to adjust the radius of the wheel set to realize pipe diameter self-adaption; the cleaning module integrates a rotating brush and a cavitation jet device to remove radioactive scales; the detection module carries a sensor and a camera to monitor the pipeline state. The robot can complete cleaning and monitoring of nuclear pipelines of multiple specifications, and stable and smooth operation of the robot in pipelines of different pipe diameters is guaranteed through linkage of the series elastic drivers and the bionic joint legs.

Description

Technical Field

[0001] This invention belongs to the field of nuclear industry equipment maintenance technology, specifically relating to a multi-functional variable-diameter nuclear waste conveying pipeline cleaning robot. Background Technology

[0002] Nuclear waste transport pipelines are critical channels for transporting radioactive waste in the nuclear industry system, and the cleanliness of their inner walls and the integrity of their structures directly affect the safe operation of nuclear facilities. Since the transported media are mostly highly radioactive liquid or solid waste, radioactive fouling, scaling, and corrosion products easily adhere to the inner walls of the pipelines. Long-term accumulation can not only lead to pipeline blockage and reduced transport efficiency, but may also cause radioactive material leakage due to structural damage, posing serious hazards to the environment and personnel.

[0003] Currently, the maintenance of nuclear waste transport pipelines mainly relies on manual cleaning and inspection or traditional fixed equipment. Manual maintenance requires workers to enter the radiation environment or operate at close range, and even with protective equipment, they still face a high risk of radiation exposure. Furthermore, the work is inefficient and labor-intensive. Traditional fixed cleaning equipment is mostly designed for specific pipe diameters and cannot adapt to the varying diameter requirements of pipelines in the nuclear industry, resulting in poor versatility. While existing pipeline robots have achieved a certain degree of automation, they have two key drawbacks: firstly, their functions are limited, with most only possessing cleaning or inspection capabilities, requiring step-by-step operations that extend maintenance cycles. For example, the pneumatic soft robot with notification number CN112828870B only focuses on pipeline inspection. The first problem is the lack of flexible feeding and the absence of any integrated cleaning module. Furthermore, the two cleaning robots with application numbers 202410948799.0 and 202410858056.4 only possess high-pressure water jet or brush cleaning functions, lacking quality verification units such as endoscopic inspection, requiring additional testing equipment to complete the entire maintenance process. Secondly, the robot's adaptability is insufficient; the variable diameter mechanism has a slow response speed and a narrow adaptability range, and the driven wheels are mostly rigid structures with a lack of effective buffering at the main drive end. The two lack coordinated linkage, making it prone to jamming or hard impact when facing scale or protrusions on the inner wall of pipes, making stable operation in complex pipe environments difficult. For example, the diameter-changing mechanism disclosed in patent application number CN201811586116.2 relies on the mechanical transmission of gears and lead screws to achieve pipe diameter adaptation. This not only has a complex structure and high assembly precision requirements, but the gear meshing and lead screw engagement are also prone to wear and jamming due to radioactive dust adhesion, resulting in a delayed diameter-changing response. The pipeline walking robot in application number CN109253342A uses a lead screw to drive the diameter change, requiring an additional locking device, further increasing structural redundancy. Moreover, the drive wheel uses bevel gear transmission, resulting in high vibration and noise during operation, and is prone to impact and oscillation when facing pipe protrusions. In addition, the special environment inside nuclear waste pipelines places extremely high demands on the adaptability of equipment. Existing equipment often suffers from shortened service life or frequent failures due to structural design defects. Most motor-driven robots are prone to motor failure in high-radiation environments, while structures relying on multi-component mechanical transmission, such as those in patent CN201811586116.2, are difficult to adapt to long-term continuous operation requirements due to rapid wear and high maintenance requirements. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes a multifunctional variable-diameter nuclear waste conveying pipeline cleaning robot. Its core innovation lies in constructing a "synergistic linkage mechanism between a series elastic actuator (main drive end) and bionic articulated legs (driven wheel end)." The series elastic actuator at the main drive end provides flexible buffering during movement, preventing damage from hard impacts. The bionic articulated legs at the driven wheel end enable adaptive adaptation to complex internal wall morphologies, eliminating the risk of jamming. The two components work together, complementing each other's weaknesses, forming a "holistic buffering + local adaptation" linkage effect, completely resolving the shortcomings of traditional robots that are "easily damaged by hard impacts and prone to jamming on rigid wheels."

[0005] Meanwhile, this invention can adapt to nuclear waste transport pipelines of different diameters through a variable diameter module, enabling adaptation to multiple pipeline specifications without frequent equipment replacement. It also integrates cleaning and detection functions, completing the integrated operation of removing radioactive fouling from the pipeline inner wall and monitoring the pipeline status. Combined with the detection module, it collects real-time environmental and structural data of the pipeline, providing a basis for the linkage adjustment of the series elastic actuator and the bionic joint leg, avoiding secondary diffusion of radioactive materials or pipeline damage, and ensuring the safety and reliability of nuclear waste transport pipeline maintenance.

[0006] The technical solution adopted in this invention is: A multifunctional variable-diameter nuclear waste transport pipeline cleaning robot includes: a walking module, which is a symmetrical triangular support leg structure, including two main drive wheel assemblies, four driven wheel assemblies, a drive wheel support arm, a driven wheel support arm, and bionic joint legs. The robot moves axially along the pipeline and adapts to complex inner walls through the linkage of a series elastic actuator and the bionic joint legs; a variable-diameter module, connected to the body frame and the walking module, used to adjust the overall radius of the robot to adapt to pipelines of different diameters; a cleaning module, including a rotating brush assembly and a cavitation jet assembly, integrated at both ends of the body frame, used to remove radioactive fouling from the inner wall of the pipeline; a detection module, including a camera and a temperature and humidity sensor, installed at the front end of the body frame, used to monitor the internal environment and inner wall condition of the pipeline, providing data for linkage adjustment; and a body frame, connected to each module, providing installation support and structural load-bearing for each functional module.

[0007] The multifunctional variable-diameter nuclear waste transport pipeline cleaning robot according to embodiments of the present invention can automatically adjust the distribution radius of the walking module wheel set according to the actual inner diameter of the nuclear waste transport pipeline through the variable-diameter module, adapting to the maintenance needs of pipelines of different specifications; through the linkage of series elastic actuators and bionic joint legs, it ensures smooth and impact-free movement, and can adapt to complex inner walls without jamming; at the same time, the composite cleaning mechanism of the cleaning module efficiently removes radioactive scale, and combined with the real-time feedback of pipeline status by the detection module, it avoids the radiation risks caused by manual intervention, ensures the cleanliness and operational safety of the nuclear waste transport pipeline after maintenance, and reduces the cost and operation cycle of nuclear industry pipeline maintenance.

[0008] Optionally, the triangular support leg structure of the walking module includes three support arms (two active wheel support arms and one driven wheel support arm). The end of the active wheel support arm is connected to the wheel frame of the main drive wheel assembly, and the ends of the driven wheel support arm and the corresponding balance arm are connected to the driven wheel assembly through bionic joint legs. The two main drive wheel assemblies are symmetrically distributed at the ends of the active wheel support arms, and the four driven wheel assemblies are divided into two groups. Each group is connected to the support arm through a bionic joint leg to form a triangular stable support structure. The series elastic actuator of the main drive wheel assembly and the bionic joint leg work together to ensure the robot's center of gravity balance and inner wall adaptation when moving in the pipe.

[0009] Optionally, the main drive wheel assembly includes a wheel frame, a walking drive motor, a main drive wheel, a wheel axle, a transmission gear, a displacement sensor, a transmission spring, and a telescopic rod. Both ends of the wheel axle are rotatably connected to the ends of the wheel frame of the walking module, and the main drive wheel body is coaxially and fixedly sleeved in the middle of the wheel axle. The transmission gear is fixedly sleeved on one end of the wheel axle near the gear set and meshes with the driven gear of the gear set. The output end of the walking drive motor is fixedly connected to one end of the telescopic rod, and the other end of the telescopic rod is fixedly connected to the driving gear of the gear set. The transmission spring is sleeved on the outside of the telescopic rod, and the displacement sensor is installed between the walking drive motor and the driving gear, forming a series elastic actuator to buffer contact impact. The displacement sensor is installed between the walking drive motor and the driving gear to monitor the contact state between the main drive wheel and the inner wall, feeds the data back to the control unit, and links with the posture adjustment of the bionic joint leg to ensure that both adapt to the inner wall of the pipe.

[0010] Optionally, the diameter-changing module includes a diameter-changing drive motor, a lead screw, a lead screw nut, and a diameter-changing connecting rod. The diameter-changing drive motor is fixed in the middle of the machine frame, and its output end is connected to one end of the lead screw. The other end of the lead screw is rotatably connected to the machine frame through a bearing seat. The lead screw nut is sleeved on the lead screw, and axial movement is achieved by rotating the lead screw. One end of the diameter-changing connecting rod is hinged to the lead screw nut, and the other end is hinged to the middle of the active wheel support arm and the driven wheel support arm of the walking module, respectively. The axial movement of the lead screw nut drives the support arm to open and close, and synchronously adjusts the distribution radius of the main drive wheel assembly (including a series elastic actuator) and the driven wheel assembly (including a bionic joint leg), ensuring that the two are linked and adapted during the diameter-changing process without disrupting their cooperative relationship.

[0011] Optionally, the variable diameter module locks the position of the lead screw nut by means of the screw's thread self-locking characteristic. At the same time, it forms a mechanical limit by combining the hinge structure of the variable diameter connecting rod and the walking module support arm, so as to avoid the variable diameter mechanism from exceeding the design limit and causing damage, and to ensure that the series elastic actuator and the bionic joint leg can still be stably linked after the diameter is changed.

[0012] Optionally, the rotating brush assembly of the cleaning module includes a brush diameter-changing motor, a brush drive motor, a drive gear, a driven gear, a cleaning fluid tank, a brush holder, a rotating brush, and a brush assembly connecting frame. Both the brush diameter-changing motor and the brush drive motor are fixed to the end of the machine frame. The output shaft of the brush diameter-changing motor is coaxially fixed to the brush drive gear to provide the variable diameter power. A driven gear meshes with the brush drive gear. The brush holder is installed between the cleaning fluid tank and the driven gear, and the driven gear and brush holder are connected by a sliding fit of a "brush holder linkage pin + brush driven gear transmission groove." The transmission mechanism drives the brush holder to move radially, allowing the brush holder to open or close radially with the transmission of the brush driven gear. The rotating brushes are arranged in a circular array around the edge of the brush holder. The brush assembly connecting frame connects the rotating brush assembly and the machine frame, ensuring stable operation of the brush holder. The brush drive motor connects to the remaining rotating brush assemblies (excluding itself) through a transmission structure consisting of a drive shaft sleeve, a flat key, and a sliding bearing, driving the rotating brushes to rotate synchronously around the axis of the machine frame. The brush diameter-changing motor works in conjunction with the diameter-changing module to ensure that the rotating brushes adapt to changes in pipe diameter and are compatible with the linkage movement of the walking module, avoiding cleaning leaks due to unstable movement.

[0013] Optionally, the cavitation jet assembly of the cleaning module includes a high-pressure pump, a liquid storage tank, a distribution pipe, and cavitation nozzles; the liquid storage tank is fixed inside the machine frame, and its output end is connected to the distribution pipe through the high-pressure pump; the cavitation nozzles are evenly distributed along the circumference of the machine frame and are connected to the distribution pipe, with the nozzle outlet facing the inner wall of the pipe, and the spray direction coinciding with the cleaning area of ​​the rotating brush, thereby deeply removing stubborn radioactive scale through the cavitation effect and improving the cleaning effect in synergy with the rotating brush.

[0014] Optionally, the detection module includes a detection bracket, a camera, and a temperature and humidity sensor. The detection bracket is connected to the front end of the robot frame via a quick-release structure. The camera is embedded in the center of the detection bracket, with its lens facing deep into the pipe, providing feedback on the distribution and morphology of scale on the inner wall of the pipe, thus providing a basis for the linkage adjustment of the series elastic actuator and the bionic joint leg. The temperature and humidity sensor is distributed outside the camera, and the detection probe of the temperature and humidity sensor maintains a preset distance from the inner wall of the pipe, detecting environmental data inside the pipe, providing a reference for adjusting the overall operating status of the robot, and avoiding the impact of abnormal environment on the linkage effect.

[0015] Optionally, the frame includes a front mounting section, a middle variable diameter section, and a rear mounting section; the front mounting section is provided with a connection interface for a cleaning module and a detection module; the middle variable diameter section has a built-in variable diameter module and a support arm hinge seat for a walking module on its outer wall; the rear mounting section connects to a rotating brush assembly of the cleaning module, which is used to achieve collaborative cleaning and adjust the overall center of gravity of the robot to prevent the robot from tipping over when the pipe is tilted, and to provide a balance basis for the stable linkage between the series elastic actuator and the bionic joint leg.

[0016] Optionally, the driven wheel assembly includes a driven wheel body, a driven wheel frame, and a driven wheel axle. The driven wheel body is rotatably connected to the driven wheel frame via the driven wheel axle, and the driven wheel frame is connected to the driven wheel support arm via a bionic joint leg. The bionic joint leg includes an outer disc, a servo motor, an inner disc, and a lower leg component. The outer disc is fixedly connected to the end of the driven wheel support arm, the inner disc is hinged to the outer disc via the servo motor, and one end of the lower leg component is fixedly connected to the inner disc, while the other end is connected to the driven wheel frame. The bionic joint leg can drive the inner disc to rotate around the outer disc via the servo motor, thereby causing the driven wheel assembly to finely adjust its posture. When there are protrusions or scale on the inner wall of the pipe, it can adjust according to the feedback from the detection module or the contact force signal, causing the driven wheel body to fit against the inner wall and avoid jamming. At the same time, it works in conjunction with the series elastic actuator of the main drive wheel to form a linkage effect of flexible support and buffering, adapting to complex pipeline environments.

[0017] The technical effects of this invention are: 1. Significantly improved mobility and stability: Compared to the shortcomings of existing pipeline robots with rigid driven wheels that are prone to jamming and lack of buffering at the main drive end, this invention achieves a "synergistic linkage of series elastic actuators (main drive end) + bionic articulated legs (driven wheel end)". The main drive end can flexibly buffer the contact impact with the inner wall of the pipeline, avoiding hard impact damage, while the driven wheel end can adaptively adjust its posture to adapt to complex shapes such as scale and protrusions on the inner wall. The two form a linkage effect of "overall buffering + local adaptation", which completely solves the problems of easy jamming and large vibration of existing equipment in complex pipeline environments, ensuring that the robot moves smoothly in nuclear waste transportation pipelines.

[0018] 2. Optimized Efficiency and Reliability of Diameter Variable Adaptation: Unlike existing diameter variable mechanisms which suffer from slow response, structural redundancy, and the need for additional locking after adaptation, the diameter variable module of this invention synchronously drives the opening and closing of the active wheel support arm and the driven wheel support arm through a screw drive. This enables the series elastic actuator and the bionic joint leg to adjust in tandem. Furthermore, the self-locking characteristic of the screw thread and the hinge limiter achieve stable locking without the need for an additional locking device. This simplifies the structure, improves the response speed of diameter variable, and ensures that the robot can still maintain the linkage state of "main drive buffer + driven wheel adaptation" after diameter change. The flexibility and stability of adapting to pipes of different diameters are superior to existing technologies.

[0019] 3. Enhanced Functional Integration and Operational Efficiency: Addressing the issue of existing equipment having limited functionality (cleaning only or detection only) and requiring step-by-step operations, this invention integrates a "rotating brush + cavitation jet" composite cleaning module with a "camera + temperature and humidity sensor" detection module. Furthermore, the brush diameter changer and the diameter changer module of the cleaning module work together to synchronously adapt to changes in pipe diameter, achieving integrated operation of "detection, cleaning, and real-time feedback" without the need for additional equipment. This significantly shortens the maintenance cycle of nuclear pipelines and substantially improves operational efficiency compared to existing step-by-step operation modes.

[0020] 4. Enhanced adaptability to nuclear environment: Existing equipment often struggles to adapt to the high radiation and complex environment of nuclear pipelines due to structural design flaws. The frame of this invention provides stable support for each functional module through a segmented design, and the moving parts of the series elastic actuator and bionic joint legs are designed with stability in a radiation environment in mind (such as reducing the mechanical transmission of easily worn multi-part components and optimizing support balance). This avoids problems such as motor failure and rapid component wear caused by radiation in existing equipment, extends the service life of the equipment in a nuclear environment, and reduces the frequency of maintenance. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the multifunctional variable-diameter nuclear waste conveying pipeline cleaning robot of the present invention.

[0022] Figure 2 This is a side view of the multifunctional variable-diameter nuclear waste conveying pipeline cleaning robot of the present invention.

[0023] Figure 3 This is a schematic diagram of the main drive wheel assembly of the present invention.

[0024] Figure 4 This is a schematic diagram of the driven wheel assembly of the present invention.

[0025] Figure 5 This is a schematic diagram of the variable diameter module and fuselage frame structure of the present invention.

[0026] Figure 6 This is a schematic diagram of the detection module and the empty jet component of the present invention.

[0027] Figure 7 This is a schematic diagram of the rotating brush assembly structure of the present invention.

[0028] Figure label: Walking module 1; drive wheel support arm 11; main drive wheel assembly 12; walking drive motor 121; wheel frame 122; displacement sensor 123; telescopic rod 125; transmission spring 126; drive gear 127; driven gear 128; main drive wheel frame 129; main drive wheel axle 1210; main drive wheel 1211; driven wheel support arm 13; bionic joint leg 14; outer disc 141; servo motor 142; inner disc 143; lower leg component 144; driven wheel assembly 15; driven wheel frame 151; driven wheel axle 152; driven wheel 153; Variable diameter module 2; Variable diameter drive motor 21; Lead screw 22; Variable diameter nut 23; Variable diameter connecting rod 24; Cleaning module 3; cavitation jet assembly 31; water gun motor 311; compression pump 312; liquid storage tank 313; cavitation nozzle 314; diverter pipe 315; rotating brush assembly 32; rotating brush drive motor 321; brush diameter reducing motor 322; brush drive gear 323; brush driven gear 324; cleaning fluid storage tank 325; brush holder 326; rotating brush 327; brush assembly connecting bracket 328; Detection module 4; Camera 41; Temperature and humidity sensor 42; Detection bracket 43; 5. Body frame; 51. Rotating brush assembly connector; 52. Walking module hinge; 53. Connection interface. Detailed Implementation

[0029] The embodiments of the present invention are described in detail below, and examples of these embodiments are provided in the appendix. Figure 1-7 The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0030] like Figure 1-7As shown, the multifunctional variable-diameter nuclear waste transport pipeline cleaning robot of the present invention includes a body frame 5, a walking module 1, a variable-diameter module 2, a cleaning module 3, and a detection module 4. Each module is integrated on the body frame 5 and works together to achieve cleaning and monitoring of the nuclear waste transport pipeline. The linkage between the series elastic actuator and the bionic articulated leg 14 of the walking module 1 is the core to ensure stable operation. The body frame 5 serves as the installation and support carrier for each functional module and is divided into a front installation section, a middle variable-diameter section, and a rear installation section. The front installation section is provided with a connection interface 53 for connecting the cleaning module 3 and the detection module 4. The middle variable-diameter section has the variable-diameter module 2 built in and the walking module hinge seat 52 of the walking module 1 on its outer wall. The rear installation section is provided with a rotating brush assembly connector 51 for connecting the rotating brush assembly 32 of the cleaning module 3, realizing coordinated cleaning and adjusting the overall center of gravity of the robot to prevent the robot from tipping over when the pipeline is tilted, and providing a balance basis for the stable linkage between the series elastic actuator and the bionic articulated leg 14.

[0031] The walking module 1 is a symmetrical triangular support leg structure, including two active wheel support arms 11, one driven wheel support arm 13, two main drive wheel assemblies 12, four driven wheel assemblies 15, and a bionic joint leg 14. The three support arms are evenly distributed around the fuselage frame 5 to form a triangular support. Through the coordinated linkage between the main drive end and the driven wheel end, stable movement within the nuclear pipeline is achieved. The main drive wheel assembly 12 includes a wheel frame 122, a drive motor 121, a main drive wheel 1211, a main drive wheel axle 1210, a transmission gear, a displacement sensor 123, a transmission spring 126, and a telescopic rod 125. Both ends of the main drive wheel axle 1210 are rotatably connected to the ends of the wheel frame 122. The main drive wheel 1211 is coaxially and fixedly sleeved on the middle of the main drive wheel axle 1210. The transmission gear is fixedly sleeved on the end of the main drive wheel axle 1210 near the gear set and meshes with the driven gear 128 of the gear set. The output end of the drive motor 121 is fixedly connected to one end of the telescopic rod 125. The other end of 125 is fixedly connected to the active gear 127 of the gear set. The transmission spring 126 is sleeved on the outside of the telescopic rod 125 to form a series elastic actuator. When the robot actively moves along the pipeline, if the main drive wheel 1211 contacts the inner wall of the pipeline and there is undulation or scale, the transmission spring 126 can flexibly buffer the instantaneous impact to avoid wheel damage or pipeline scratches caused by rigid transmission. The displacement sensor 123 monitors the contact state between the main drive wheel 1211 and the inner wall in real time and feeds the data back to the control unit to ensure that the main drive wheel 1211 always moves with a stable contact force, providing a stable power foundation for the adaptation of the driven wheel. The driven wheel assembly 15 includes a driven wheel 153, a driven wheel frame 151, and a driven wheel axle 152. The driven wheel 153 is rotatably connected to the driven wheel frame 151 via the driven wheel axle 152. The outer disc 141 of the bionic articulated leg 14 is fixedly connected to the end of the driven wheel support arm 13. The inner disc 143 is hinged to the outer disc 141 via a servo motor 142. One end of the lower leg component 144 is connected to the inner disc 143, and the other end is connected to the driven wheel frame 151 of the driven wheel assembly 15, forming a flexible support structure. When the driven wheel 153 encounters a local protrusion, stubborn scale, or small depression on the inner wall of the pipe, the bionic articulated leg 14 can finely adjust its posture under the drive of the servo motor 142, driving the driven wheel 153 to adjust its position and angle, ensuring that it always fits the inner wall, avoiding jamming caused by local structural obstruction, and providing stable support for the robot as a whole.The series elastic actuators and the bionic joint legs 14 form a linkage effect of "overall buffering + local adaptation" - the series elastic actuators of the main drive wheel assembly 12 focus on "overall buffering during active movement", absorbing the impact during movement, making the robot's overall movement more stable, providing a stable foundation for the attitude adjustment of the driven wheels 153, and avoiding adaptation deviation of the driven wheels due to the shaking of the main drive end; the bionic joint legs 14 of the driven wheels 153 focus on "fine adaptation of the complex local inner wall", eliminating local obstacles, ensuring that the power of the main drive wheels 1211 can be continuously and effectively transmitted, and avoiding the interruption of overall movement due to jamming of the driven wheels 153. The collaboration of the two makes the robot's movement in the complex environment of nuclear pipelines free from the risk of hard impact damage and local jamming problems, greatly improving the reliability of walking.

[0032] The variable diameter module 2 is connected to the body frame 5 and the walking module 1. It is used to adjust the overall radius of the robot to adapt to pipes of different diameters. It includes a variable diameter drive motor 21, a lead screw 22, a variable diameter nut 23 and a variable diameter connecting rod 24. The variable diameter drive motor 21 is fixed in the middle of the body frame 5. Its output end is connected to one end of the lead screw 22. The other end of the lead screw 22 is rotatably connected to the body frame 5 through a bearing seat. The variable diameter nut 23 is sleeved on the lead screw 22 and moves axially through the rotation of the lead screw 22. One end of the variable diameter connecting rod 24 is hinged to the variable diameter nut 23, and the other end is hinged to the middle of the drive wheel support arm 11 and the driven wheel support arm 13 respectively. When the variable diameter drive motor 21 drives the lead screw 22 to rotate, the variable diameter nut 23 moves axially along the lead screw 22. Through the variable diameter connecting rod 24, it synchronously pushes the active wheel support arm 11 and the driven wheel support arm 13 to open and close around the hinge seat of the body frame 5, adjusting the distribution radius of the main drive wheel assembly 12 (including the series elastic actuator) and the driven wheel assembly 15 (including the bionic joint leg 14) to realize the overall diameter change of the robot. During the diameter change process, the variable diameter module 2 synchronously drives the series elastic actuator and the bionic joint leg 14 to adjust in coordination, ensuring that the two can still maintain stable contact with the inner wall of the pipe after the diameter change, without destroying the linkage state. At the same time, through the thread self-locking characteristic of the lead screw 22 and the hinge limit of the variable diameter connecting rod 24, the diameter change mechanism is prevented from exceeding the design limit and being damaged.

[0033] The cleaning module 3 includes a rotating brush assembly 32 and a cavitation jet assembly 31, which are respectively integrated at both ends of the body frame 5. It is used to remove radioactive dirt from the inner wall of the pipe, and its operation is adapted to the linkage movement of the walking module 1. The rotating brush assembly 32 includes a rotating brush drive motor 321, a brush diameter variable motor 322, a brush drive gear 323, a brush driven gear 324, a cleaning fluid tank 325, a brush bracket 326, a rotating brush 327, and a brush assembly connecting frame 328. The rotating brush bracket 326 is installed between the cleaning fluid tank 325 and the brush driven gear 324. The rotating brush drive motor 321 and the brush diameter variable motor 322 are both fixed to the end of the machine frame 5. The output end of the brush diameter variable motor 322 is connected to the brush drive gear 323. The rotating brush bracket 326 and the brush driven gear 324 are connected by a sliding fit of "rotating brush bracket linkage pin + brush driven gear transmission groove". The brush driven gear 324 meshes with the brush drive gear 323 to drive the brush bracket 326 to achieve radial extension and retraction. Rotating brushes 327 are arranged in a ring array on the edge of brush holder 326. Rotating brush drive motor 321 is connected to the remaining rotating brush assembly (excluding itself) through drive shaft sleeve, flat key and sliding bearing, and is used to drive this part of the assembly to rotate around the axis of the body frame 5. Specifically, when the brush diameter-changing motor 322 operates, power is transmitted sequentially to the brush support 326 via the brush drive gear 323 and the brush driven gear 324, causing the brush support 326 to extend and retract radially, thereby adjusting the distribution radius of the rotating brush 327 to adapt to the cleaning needs of pipes with different diameters. When the rotating brush drive motor 321 operates, power is transmitted to the remaining rotating brush assemblies (excluding itself) via the drive bushing, flat key, and sliding bearing, causing these assemblies to rotate around the axis of the machine frame 5. The mechanical shearing force generated by the contact between the rotating brush 327 and the inner wall of the pipe is used to peel off loose radioactive scale from the inner wall of the pipe. The cleaning fluid storage tank 325 is used to store the cleaning fluid, and the brush assembly connecting bracket 328 assists in connecting the rotating brush assembly 32 to the machine frame 5, ensuring the stability of the diameter-changing brush support 326 and the rotation of the remaining rotating brush assemblies. The cavitation jet assembly 31 includes a water gun motor 311, a compression pump 312, a storage tank 313, a diversion pipe 315, and cavitation nozzles 314. The storage tank 313 is fixed inside the machine frame 5, and its output end is connected to the diversion pipe 315 through the compression pump 312. The cavitation nozzles 314 are evenly distributed along the circumference of the machine frame 5 and are connected to the diversion pipe 315. The nozzle outlet faces the inner wall of the pipe, and the spray direction coincides with the cleaning area of ​​the rotating brush 327. The cavitation effect deeply removes stubborn radioactive scale. The water gun motor 311 provides power to the compression pump 312.

[0034] The detection module 4 is installed at the front end of the body frame 5 to monitor the internal environment and inner wall condition of the pipeline, providing data support for the linkage adjustment of the series elastic actuator and the bionic joint leg 14. It includes a detection bracket 43, a camera 41, and a temperature and humidity sensor 42. The detection bracket 43 is connected to the front end of the body frame 5 through a quick-release structure, which facilitates the disassembly, assembly, and maintenance of the detection module 4. The camera 41 is embedded in the central area of ​​the detection bracket 43, with its lens facing deep into the pipeline. It can capture images of the inner wall of the pipeline in real time, providing feedback on the distribution of scale, the location of protrusions, and the residue after cleaning. When a local complex shape is identified, it provides a basis for the fine-tuning of the posture of the bionic joint leg 14 and the adjustment of the buffering force of the series elastic actuator. The temperature and humidity sensor 42 is distributed circumferentially on the outside of the camera 41, which can collect temperature and humidity data in the pipeline in real time, providing a reference for the overall environmental adaptability adjustment of the robot and avoiding the impact of abnormal environment on the linkage effect of the series elastic actuator and the bionic joint leg 14.

[0035] During operation, the invention first enters the pipe diameter adaptation stage: according to the inner diameter of the pipeline for transporting nuclear waste to be cleaned, the diameter-changing module 2 is activated, the diameter-changing drive motor 21 drives the lead screw 22 to rotate, which drives the diameter-changing nut 23 to move axially, and pushes the active wheel support arm 11 and the driven wheel support arm 13 to open and close through the diameter-changing connecting rod 24; at the same time, the series elastic actuator of the main drive wheel assembly 12 adapts to the change of radius through elastic deformation, and the bionic joint leg 14 of the driven wheel assembly 15 synchronously fine-tunes the angle of the inner disk 143 to ensure that the main drive wheel 1211 and the driven wheel 153 are stably attached to the inner wall of the pipeline, completing the linkage adaptation, and the lead screw 22 maintains the position of the diameter-changing nut 23 through the thread self-locking characteristic. The subsequent mobile cleaning phase begins: the walking drive motor 121 of the walking module 1 is activated, and power is transmitted to the main drive wheel axle 1210 via the telescopic rod 125, the driving gear 127, and the driven gear 128, causing the main drive wheel 1211 to rotate and drive the robot to move axially along the pipeline. During the movement, the transmission spring 126 of the series elastic actuator buffers the impact between the main drive wheel 1211 and the inner wall of the pipeline, and the displacement sensor 123 monitors the contact status in real time and feeds it back to the control unit. If the driven wheel 153 encounters a protrusion or scale on the inner wall, the camera 41 captures the image or the driven wheel 153 transmits a contact force signal, and the servo motor 142 of the bionic joint leg 14 drives the inner disk 143 to rotate. The lower leg component 144 and driven wheel 153 are finely adjusted to cross hard obstacles and avoid getting stuck. At the same time, the cleaning module 3 is activated. The rotating brush drive motor 321 drives the rotating brush assembly 32, which in turn drives the rotating brush 327 to rotate for mechanical cleaning. The brush diameter variable motor 322 finely adjusts the radius of the brush bracket 326 in real time according to the change of the inner diameter of the pipe. The compression pump 312 pressurizes the cleaning liquid in the storage tank 313 and delivers it to the cavitation nozzle 314 through the diversion pipe 315. The cavitation nozzle 314 sprays out a cavitation jet and works with the rotating brush 327 to remove the scale on the inner wall of the pipe. The camera 41 and temperature and humidity sensor 42 of the detection module 4 collect data in real time and feed it back to the external terminal for monitoring. When the robot encounters a pipe bend or a change in pipe diameter, it enters the complex working condition response stage: the detection module 4 provides feedback on the pipe status information, the diameter change module 2 finely adjusts the opening and closing of the active wheel support arm 11 and the driven wheel support arm 13 to adapt to the change in pipe diameter, the series elastic actuator of the main drive wheel assembly 12 maintains stable contact force to avoid impact; the bionic joint leg 14 synchronously adjusts the posture of the driven wheel 153 to ensure conformity to the new inner wall shape; the walking module 1 achieves smooth steering by adjusting the speed of the main drive wheel 1211. Throughout the process, the linkage between the series elastic actuator and the bionic joint leg 14 remains effective, ensuring that the robot does not tip over or get stuck, and that the operation can be carried out continuously.After the operation is completed, the final stage begins: the variable diameter module 2 drives the active wheel support arm 11 and the driven wheel support arm 13 to retract to their minimum radius, the servo motor 142 of the bionic joint leg 14 drives the inner disk 143 to reset, causing the driven wheel assembly 15 to retract, and the series elastic actuator of the main drive wheel assembly 12 to return to its initial state; the walking drive motor 121 reverses to drive the robot back to the pipeline inlet, the operator shuts down the equipment and analyzes the data collected by the detection module 4, completing a nuclear waste transport pipeline cleaning operation.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0041] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. A multi-functional variable diameter nuclear waste pipe cleaning robot, characterized by, The utility model relates to a kind of pipe cleaning robot, including: walking module, the walking module is symmetrical triangular support leg type structure, including two main drive wheel assemblies, four driven wheel assemblies, active wheel support arm, driven wheel support arm and bionic joint leg;Variable diameter module, the variable diameter module is connected with body frame and walking module;Cleaning module, the cleaning module includes rotary brush assembly and cavitation jet assembly, and the cleaning module is integrated in both ends of body frame;Detection module, the detection module includes camera and temperature and humidity sensor, and the detection module is installed in the front end of body frame; Body frame, the body frame is connected with each module. The triangular support leg type structure of the walking module includes three support arms, including two active wheel support arms and a driven wheel support arm, and the end of each support arm is connected with corresponding wheel carrier or bionic joint leg;Two main drive wheel assemblies are symmetrically distributed at the end of two active wheel support arms, and four driven wheel assemblies are divided into two groups, which are installed at the end of driven wheel support arm and corresponding balance arm through bionic joint leg, forming a triangular stable support structure, and the series elastic driver of main drive wheel assembly is cooperated with bionic joint leg to adapt to the inner wall of pipeline.

2. The multi-functional variable diameter nuclear waste pipe cleaning robot according to claim 1, wherein, The main drive wheel assembly includes wheel carrier, walking drive motor, main drive wheel, wheel shaft, transmission gear, displacement sensor, transmission spring and telescopic rod;The ends of the wheel shaft are rotatably connected with the ends of the wheel carrier of the walking module, and the main drive wheel is coaxially fixedly sleeved in the middle of the wheel shaft;The transmission gear is fixedly sleeved on one end of the wheel shaft close to the gear set, and is engaged with the driven gear of the gear set;The output end of the walking drive motor is fixedly connected with one end of the telescopic rod, the other end of the telescopic rod is fixedly connected with the driving gear of the gear set, the transmission spring is sleeved outside the telescopic rod, and the displacement sensor is installed between the walking drive motor and the driving gear, forming a series elastic driver to buffer the contact impact;The displacement sensor is installed between the walking drive motor and the driving gear, for feeding back the contact state of the main drive wheel and the inner wall of the pipeline, and providing data support for linkage with the bionic joint leg.

3. The multi-functional variable diameter nuclear waste pipe cleaning robot of claim 1, wherein, The variable diameter module includes variable diameter drive motor, lead screw, lead screw nut and variable diameter connecting rod;The variable diameter drive motor is fixed in the middle of the body frame, and the output end thereof is in transmission connection with one end of the lead screw, and the other end of the lead screw is rotatably connected with the body frame through a bearing seat;The lead screw nut is sleeved on the lead screw, and axial movement is realized through rotation of the lead screw;One end of the variable diameter connecting rod is hingedly connected with the lead screw nut, and the other end thereof is hingedly connected with the middle of the active wheel support arm and the driven wheel support arm of the walking module, respectively, and the support arm is driven to open and close to realize variable diameter through axial movement of the lead screw nut, and the main drive wheel assembly, the series elastic driver, the driven wheel assembly and the bionic joint leg are synchronously adjusted during the variable diameter process.

4. The multi-functional variable diameter nuclear waste pipe cleaning robot of claim 1, wherein, The variable diameter module limits the axial displacement of the lead screw nut through the thread self-locking characteristics of the lead screw, and the hinged structure of the variable diameter connecting rod and the support arm of the walking module, to limit the movement range of the lead screw nut, and ensure that the series elastic driver and the bionic joint leg can still stably link after variable diameter.

5. The multi-functional variable diameter nuclear waste pipe cleaning robot of claim 4, wherein, ​ 6. The multi-functional variable diameter nuclear waste pipe cleaning robot of claim 1, wherein, The rotating brush assembly of the cleaning module comprises a brush variable-diameter motor, a brush driving motor, a driving gear, a driven gear, a cleaning liquid storage tank, a brush support, rotating brushes and a brush assembly connecting frame; the brush variable-diameter motor and the brush driving motor are fixed to the end of the machine body frame, the output end of the brush variable-diameter motor is connected with the brush driving gear for driving the brush driving gear to rotate to realize variable diameter; the brush driven gear is in meshing transmission with the brush driving gear, the brush support is installed between the cleaning liquid storage tank and the brush driven gear, and the brush driven gear and the brush support are in transmission connection through the sliding fit of the "brush support linkage pin + brush driven gear transmission groove", so that the brush support can be radially expanded or contracted with the transmission of the brush driven gear; the rotating brushes are arranged in an annular array at the edge of the brush support, and the brush assembly connecting frame is used to connect the rotating brush assembly and the machine body frame; the brush driving motor is connected with the remaining rotating brush assemblies except itself through the transmission structure of the driving shaft sleeve, the key and the sliding bearing, for driving the assemblies to rotate around the axis of the machine body frame, and the brush variable-diameter motor cooperates with the variable-diameter module to ensure that the rotating brushes adapt to the change of the pipe diameter.

7. The multi-functional variable diameter nuclear waste pipe cleaning robot of claim 1, wherein, The cavitation jet assembly of the cleaning module comprises a high-pressure pump, a liquid storage tank, a shunt pipe and a cavitation nozzle; the liquid storage tank is fixed inside the machine body frame, and the output end thereof is connected with the shunt pipe through the high-pressure pump; the cavitation nozzles are uniformly distributed along the circumferential direction of the machine body frame and are in communication with the shunt pipe, the nozzle outlets face the inner wall of the pipeline, the jetting direction coincides with the cleaning area of the rotating brushes, and the rotating brushes and the rotating brushes cooperate to remove radioactive scaling.

8. The multi-functional variable diameter nuclear waste pipe cleaning robot of claim 1, wherein, The detection module comprises a detection support, a camera and a temperature and humidity sensor; the detection support is connected with the front end of the machine body frame through a quick release structure; the camera is embedded in the central area of the detection support, the lens thereof faces the deep part of the pipeline, and is used for detecting the complex environment inside the pipeline; the temperature and humidity sensor is circumferentially distributed outside the camera, and the detection probe of the temperature and humidity sensor is kept at a preset distance from the inner wall of the pipeline to synchronously detect the temperature and humidity of the pipeline.

9. The multi-functional variable diameter nuclear waste pipe cleaning robot of claim 1, wherein, The machine body frame comprises a front mounting portion, a middle variable-diameter portion and a rear mounting portion; the front mounting portion is provided with the connecting interfaces of the cleaning module and the detection module; the middle variable-diameter portion is internally provided with a variable-diameter module, and the outer wall thereof is provided with a support arm hinged seat of the walking module; the rear mounting portion is connected with the rotating brush assembly of the cleaning module, for realizing cooperative cleaning and adjusting the overall gravity center of the robot, and providing a balance basis for the stable linkage of the series elastic driver and the bionic joint leg.

10. The multi-functional variable diameter nuclear waste pipe cleaning robot of claim 1, wherein, The driven wheel assembly comprises a driven wheel body, a driven wheel frame and a driven wheel axle; the driven wheel body is rotationally connected with the driven wheel frame through the driven wheel axle; the driven wheel frame is connected with the driven wheel support arm through a bionic joint leg; the bionic joint leg comprises an outer disc, a steering engine, an inner disc and a lower leg component; the outer disc is fixedly connected with the end of the driven wheel support arm; the inner disc is hingedly connected with the outer disc through the steering engine; one end of the lower leg component is fixedly connected with the inner disc, and the other end is connected with the driven wheel frame; the steering engine can drive the inner disc to rotate around the outer disc, drive the lower leg component and the driven wheel assembly to finely adjust the posture, and cooperates with the series elastic driver of the main driving wheel assembly to form a flexible support structure adapting to the inner wall shape of the pipeline.

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