A nuclear waste storage well wall polishing robot and a polishing method

Abstract

This invention discloses a robot and method for grinding the walls of nuclear waste storage wells, belonging to the field of nuclear waste treatment technology. The device includes a three-axis truss mechanism and a grinding mechanism, connected by an adjustment mechanism. An electrical cabinet and a dust removal mechanism are installed on the three-axis truss mechanism. The method includes: 1. Preparatory work before grinding; 2. Determining the four walls of the nuclear waste storage well to be ground and installing the grinding robot; 3. Grinding the four walls of the nuclear waste storage well; 4. Determining the bottom surface of the nuclear waste storage well to be ground and installing the grinding robot; 5. Grinding the bottom surface of the nuclear waste storage well; 6. Removing the grinding robot. This invention replaces manual grinding operations in the well with an automated mechanism. Operators can remotely control the machine from outside the wellhead, completely avoiding the safety risks of falls, dust inhalation, and collisions associated with manual work in the confined space of deep wells, thus ensuring the occupational health and personal safety of construction workers.

Description

Technical Field

[0001] This invention belongs to the field of nuclear waste treatment technology, and in particular relates to a robot and method for grinding the well walls of nuclear waste storage wells. Background Technology

[0002] As the core structure of nuclear waste storage facilities, nuclear waste storage wells require high-precision grinding of the concrete surface of the inner walls (four walls + bottom) after casting to ensure their sealing performance, structural stability, and the accuracy of subsequent installations. The surface flatness error must be controlled to a minimum, with no obvious protrusions, depressions, or casting defects. Nuclear waste storage wells are mostly 5-meter deep square cross-section structures, representing a typical deep, enclosed, and confined space operation scenario. Grinding is a critical step in the construction of nuclear waste storage facilities, and its construction quality directly affects the long-term safety of nuclear waste storage. Currently, grinding of nuclear waste storage wells is mostly done manually. Construction workers wear protective gear and enter the 5-meter deep square cross-section storage well, using small electric grinders to grind the four walls and bottom of the well. During the operation, a designated person at the wellhead assists by passing tools and observing the work. The dust generated during grinding naturally dissipates, and the flatness is manually inspected after completion.

[0003] This manual polishing method is limited by the special environment of nuclear waste storage wells, which are deep, enclosed, small, and have two different specifications. It also has many unsolvable technical problems and operational defects, as follows: (1) The work has extremely high safety risks and insufficient occupational health protection. The storage well is a narrow space with a depth of 5 meters. Construction workers have to work in a cramped or bent-over position. There is no effective ventilation in the deep well, and the large amount of cement dust generated during grinding cannot be dispersed quickly. Even if masks are worn, a large amount of dust will still be inhaled. Long-term work can easily lead to occupational diseases such as pneumoconiosis. During the work of climbing up and down the deep well, personnel are prone to falling and collision accidents. In addition, if equipment failure occurs in the confined space, it is difficult to evacuate personnel, which poses a secondary safety hazard.

[0004] (2) The work efficiency is extremely low and the construction period is difficult to guarantee. Manual hand-held grinding tools have a limited operating range, and a single machine can only grind a small area at a time. Furthermore, the physical exertion of personnel inside a 5-meter-deep well is rapid, requiring frequent rotation of workers. Grinding operations for a single storage well often require multiple workers to cooperate and can take up to several hours. At the same time, manual grinding needs to proceed surface by surface and area by area, without standardized operating procedures, which can easily lead to repeated grinding, further reducing work efficiency and failing to meet the schedule requirements of batch construction projects.

[0005] (3) Poor grinding precision and inconsistent quality cannot be guaranteed. The quality of grinding depends entirely on the skill, experience, and sense of responsibility of the operators. Manual operation makes it difficult to guarantee the uniformity of grinding force and speed, which can easily lead to problems such as missed areas, uneven grinding depth, and excessive surface flatness. Furthermore, the corners, bottom surfaces, and junctions of the square cross-section well body with the four walls are blind spots for manual grinding, making it very easy for grinding to be incomplete. This cannot meet the high-precision construction quality requirements of nuclear waste storage wells and will affect subsequent installation and long-term sealing performance.

[0006] (4) On-site operation management is difficult and there is no process controllability. During manual downhole operations, wellhead personnel cannot observe the entire grinding process in real time. The control of grinding progress and quality can only be achieved through verbal feedback from the operators, resulting in information lag. Grinding parameters cannot be precisely adjusted, and rework is required after grinding defects occur, further increasing construction costs.

[0007] In summary, existing manual grinding solutions cannot be adapted to the special operating scenarios of nuclear waste storage wells, and have core problems such as high safety risks, low efficiency, poor accuracy, and uncontrollable quality. These have become technical pain points that urgently need to be solved in the construction of nuclear waste storage facilities. The industry urgently needs an automated, high-precision, and high-safety grinding equipment for this special scenario. Summary of the Invention

[0008] The technical problem this invention aims to solve is to address the shortcomings of the existing technology by providing a nuclear waste storage well wall grinding robot. By modularizing the components of the grinding robot, rapid assembly and disassembly are achieved through modular installation. The automated mechanism replaces manual grinding operations in the well, allowing operators to remotely control the robot from outside the wellhead. This completely avoids the safety risks of falls, dust inhalation, and collisions associated with manual operation in the confined space of a 5-meter deep well, fundamentally solving a long-standing industry pain point in operational safety and ensuring the occupational health and personal safety of construction workers. By combining a three-axis truss mechanism, the grinding mechanism, and an adjustment mechanism, fully automated, high-precision grinding of the well's four walls and bottom surface is achieved. This overcomes the limitations of traditional equipment in terms of operating range and poor specification adaptability, and also solves the efficiency, accuracy, and safety issues associated with traditional manual or simple equipment grinding.

[0009] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a nuclear waste storage well wall grinding robot, comprising a three-axis truss mechanism disposed at the wellhead of the nuclear waste storage well and a grinding mechanism disposed at the bottom of the three-axis truss mechanism, wherein the three-axis truss mechanism and the grinding mechanism are connected by an adjustment mechanism; an electrical cabinet and a dust removal mechanism are disposed on the three-axis truss mechanism; The three-axis truss mechanism includes two X-axis horizontal beams, two Y-axis longitudinal beams, and one Z-axis vertical beam located at the wellhead of the nuclear waste storage well; the X-axis horizontal beams and Y-axis longitudinal beams are slidably connected, and the Y-axis longitudinal beams and Z-axis vertical beams are slidably connected; the electrical cabinet is mounted on one side of the Y-axis longitudinal beam via a fixed base, and the dust removal mechanism is mounted on the other side of the Y-axis longitudinal beam via a fixed base; The adjustment mechanism is mounted on the bottom of the Z-axis vertical beam via an adapter. The adjustment mechanism includes a rotating component and a translation component, both mounted on the adapter. The rotating component is arranged on one side of the adapter. The translation component includes a side translation unit that drives the side grinding component and a bottom translation unit that drives the bottom grinding component. The side translation unit and the bottom translation unit are both arranged on the other side of the adapter. The polishing mechanism includes a side polishing component disposed at the output end of the side translation unit and a bottom polishing component disposed at the output end of the bottom translation unit. The side grinding assembly includes two sets of side grinding units symmetrically arranged at the bottom of the second slide plate. Each side grinding unit includes a first mounting plate horizontally arranged at the bottom of the second slide plate and disposed on one side of the second slide plate. The bottom of the first mounting plate is provided with multiple sets of side grinding head units, which are arranged along the length direction of the first mounting plate. The bottom grinding assembly includes two sets of bottom grinding units symmetrically arranged on the bottom of the second slide plate. Each bottom grinding unit includes a second mounting plate horizontally arranged on the bottom of the second slide plate and disposed on one side of the second slide plate. The bottom of the second mounting plate is provided with multiple sets of bottom grinding head units, which are arranged along the length of the second mounting plate. Safety protection components are provided on both the side grinding head unit and the bottom grinding head unit. The dust removal mechanism includes a dust collector mounted on a fixed base on the Y-axis longitudinal beam and a dust removal cover mounted below the Y-axis longitudinal beam. The dust collector and the dust removal cover are connected by a suction hose.

[0010] Furthermore, the two X-axis crossbeams are symmetrically arranged on both sides of the opening of the nuclear waste storage well, and multiple support legs are vertically arranged at the bottom of the X-axis crossbeams; the Y-axis longitudinal beams are symmetrically arranged between the two X-axis crossbeams, and the Z-axis vertical beams are vertically arranged between the two Y-axis longitudinal beams. A transverse guide rail is horizontally arranged on the X-axis crossbeam for sliding the Y-axis longitudinal beam, and a longitudinal guide rail is horizontally arranged on the Y-axis longitudinal beam for sliding the Z-axis vertical beam. The transverse guide rail is arranged along the length direction of the X-axis crossbeam, and the longitudinal guide rail is arranged along the length direction of the Y-axis longitudinal beam.

[0011] Furthermore, the rotating assembly includes a first servo motor disposed on one side of the adapter, the bottom of the first servo motor is connected to a first planetary reducer via a coupling, a first gear is connected to the output shaft of the first planetary reducer, and a slewing bearing that meshes with the first gear is horizontally disposed at the bottom of the adapter, the slewing bearing being fixedly connected to the first slide plate.

[0012] Furthermore, the side translation unit includes a side drive component disposed on the other side of the adapter and a side translation component connected to the side drive component; the side drive component includes a second servo motor disposed on the other side of the adapter, the bottom of the second servo motor being connected to the top of the second planetary reducer via a coupling, the bottom of the second planetary reducer being connected to the first slide plate, and a second gear being connected to the output shaft of the second planetary reducer, the second gear being disposed on the bottom of the first slide plate; A second slide plate is horizontally arranged at the bottom of the first slide plate. The second gear is arranged between the first slide plate and the second slide plate. A first rack is arranged at the bottom of the first slide plate. A second rack is arranged on the top surface of the second slide plate. The first rack and the second rack are arranged on the same side of the first slide plate. The second gear is arranged between the first rack and the second rack, and the second gear is engaged with both the first rack and the second rack.

[0013] Furthermore, the bottom translation unit includes a bottom drive component disposed on the other side of the adapter and a bottom translation component connected to the bottom drive component; the bottom drive component includes a second servo motor, the bottom of the second servo motor being connected to the top of a third planetary reducer via a coupling, a third gear being connected to the output shaft of the third planetary reducer, the third gear being disposed on the bottom of the first slide plate, and a third rack being disposed on the bottom of the first slide plate to mesh with the third gear.

[0014] Furthermore, the side translation component and the bottom translation component have the same structure. Both the side translation component and the bottom translation component include a first guide rail and a second guide rail symmetrically arranged at the bottom of the first slide plate. The top of the second slide plate is provided with a slider that cooperates with the first guide rail and the second guide rail.

[0015] Furthermore, both the side grinding head unit and the bottom grinding head unit are three-head grinding head structures. The side grinding head unit includes a first connecting seat disposed at the bottom of the first mounting plate. The bottom of the first connecting seat is connected to a first mounting seat. A first track seat is connected to the first mounting seat. Two sliders are symmetrically disposed at the top of the first track seat. A first slide rail is slidably disposed within the sliders. A first grinding motor is disposed at the bottom of the first track seat. A first three-head grinding head is connected to the output shaft of the first grinding motor. The first connecting seat is an I-shaped structure, the first mounting seat is an L-shaped structure, and the first track seat is an inverted U-shaped structure. The horizontal section of the first mounting seat is located at the bottom of the first connecting seat, and the vertical section of the first mounting seat is located on the side of the first connecting seat away from the first three-head grinding head. The safety protection components on the side grinding head unit include a first elastic buffer horizontally disposed in the gap between the vertical section of the first mounting base and the first track base, and an anti-collision sensor disposed on the side of the first track base.

[0016] Furthermore, the bottom grinding head unit includes a second connecting seat vertically disposed at the bottom of the second mounting plate, a second mounting seat horizontally connected to the side of the second connecting seat, a second track seat vertically disposed below the second mounting seat, the second mounting seat and the second track seat being connected by bolts, two sliders symmetrically disposed on the side of the second track seat near the second connecting seat, a second track being slidably disposed within the sliders, the second track being mounted on the side of the second connecting seat near the second mounting seat; a second grinding motor is disposed on the side of the second track seat away from the second connecting seat, and a second three-head grinding head is connected to the output shaft of the second grinding motor; The second connecting seat is a flat plate structure, the second mounting seat is a U-shaped structure, and the second track seat is a U-shaped structure; The safety protection components on the bottom grinding head unit include a second elastic buffer horizontally disposed between the second mounting base and the second track base, and an anti-collision sensor disposed on the top of the second track base. The second elastic buffer is parallel to the bolt.

[0017] Furthermore, the first three-head grinding head and the second three-head grinding head have the same structure. Both the first three-head grinding head and the second three-head grinding head include a coupling mounted on the output shaft of the first grinding motor or the second grinding motor. Three grinding discs are connected to the coupling. A housing is provided between the coupling and the grinding discs. A transmission component that drives the grinding discs to move is provided inside the housing. The transmission assembly includes a drive shaft disposed between a coupling and a grinding disc. The drive shaft, the coupling, and the grinding disc are all disposed at one end of the housing, and two other grinding discs are disposed at the other end of the housing. Each of the other two grinding discs is connected to a driven shaft. The drive shaft and the driven shaft are parallel to each other and are connected by a multi-wedge pulley.

[0018] This invention also provides a method for using a nuclear waste storage well wall grinding robot to grind the well wall, the method comprising the following steps: Step 1: Preparatory work before grinding: Divide the four walls and bottom of the nuclear waste storage well into sections. Divide the four walls of the nuclear waste storage well along the height direction of the well, with the height of each section being the height of the side grinding assembly. Divide the bottom of the nuclear waste storage well along the width direction of the well, with the width of each section being the width of the bottom grinding assembly. Move the three-axis truss mechanism to the wellhead of the nuclear waste storage well. Step 2: Determine the four walls of the nuclear waste storage well to be ground and install the grinding robot. The process is as follows: Step 201: Install the side translation unit on the adapter and install the side grinding assembly on the bottom of the second slide plate; Step 202: Install the grinding robot, with the side translation unit and the side grinding assembly installed, at the wellhead of the nuclear waste storage well, so that the same end of both sets of the side grinding units is in close contact with the same side edge of the nuclear waste storage well; start the Z-axis vertical beam and drive the adjustment mechanism and the side grinding assembly to be vertically lowered into the nuclear waste storage well until the top of the side grinding assembly is flush with the top of the area to be ground in the nuclear waste storage well; Step 203: Start the second servo motor in the side translation unit so that the first three grinding heads in both sets of the side grinding units are in close contact with the pair of opposing well walls in the nuclear waste storage well, and then turn off the second servo motor. Step 3: Grind the four walls of the nuclear waste storage well, as follows: Step 301: Start the first grinding motor. The first grinding motor drives the first three-head grinding head to grind the four walls of the nuclear waste storage well. After grinding is completed, turn off the first grinding motor. Step 302: Start the second servo motor in the side translation unit to move the two sets of side grinding units along the width direction of the well wall of the nuclear waste storage well. The distance moved is the length of the side grinding unit. Then repeat step 301 until the grinding of both sides of the four walls of the nuclear waste storage well is completed. Step 303: Start the second servo motor in the side translation unit to drive the two sets of side grinding units to move towards the center of the nuclear waste storage well, so that the edge of the side grinding unit is separated from the four walls of the nuclear waste storage well; then start the first servo motor, and under the drive of the rotating component, realize the rotation of the side grinding component, so that the two sets of side grinding units rotate 90°. Step 304: Start the second servo motor in the side translation unit so that the first three grinding heads in both sets of the side grinding units are in close contact with the other pair of oppositely arranged four walls of the nuclear waste storage well, and then turn off the second servo motor. Step 305: Repeat steps 301 and 302 until the grinding of the other two sides of the four walls of the nuclear waste storage well is completed, thus completing the grinding of one section of the four walls of the nuclear waste storage well. Step 306: Start the Z-axis vertical beam and drive the adjustment mechanism and the side grinding assembly to be lowered vertically. The distance of the lowering is the height of the side grinding unit. Step 307: Repeat steps 301 to 305 to complete the grinding of the four walls of the nuclear waste storage well described in the next section; Step 308: Repeat steps 306 and 307 until all grinding work on the four walls of the nuclear waste storage well is completed; Step 4: Determine the bottom surface of the nuclear waste storage well to be ground and install the grinding robot. The process is as follows: Step 401: Start the Z-axis vertical beam and drive the adjustment mechanism and the side grinding assembly to be vertically lifted to the wellhead of the nuclear waste storage well. Remove the side translation unit and the side grinding assembly, and install the bottom translation unit on the adapter seat. Install the bottom grinding assembly on the bottom of the second slide plate. Step 402: Install the grinding robot with the bottom translation unit and the bottom grinding assembly installed at the wellhead of the nuclear waste storage well, so that the same end of the two sets of bottom grinding units is in close contact with the same side edge of the nuclear waste storage well; start the Z-axis vertical beam and drive the adjustment mechanism and the bottom grinding assembly to be vertically lowered to the bottom of the nuclear waste storage well; Step 403: Start the second servo motor in the bottom translation unit so that the second and third grinding heads in the bottom grinding unit are in close contact with one side of the well wall at the bottom of the nuclear waste storage well, and then turn off the second servo motor. Step 5: Grind the bottom surface of the nuclear waste storage well, as follows: Step 501: Start the second grinding motor. The second grinding motor drives the second and third grinding heads to grind the bottom of the nuclear waste storage well. After grinding is completed, turn off the second grinding motor. Step 502: Start the second servo motor in the bottom translation unit to move the two sets of bottom grinding units along the length of the bottom of the nuclear waste storage well. The distance moved is the length of the bottom grinding unit. Repeat step 501 until the grinding of a section of the bottom of the nuclear waste storage well is completed. Step 503: Start the second servo motor in the bottom translation unit to drive the two sets of bottom grinding units to move along the width direction of the nuclear waste storage well, and the distance moved is the width of the bottom grinding unit; Step 504: Repeat steps 501 and 503 until all grinding work at the bottom of the nuclear waste storage well is completed; Step 6: Remove the grinding robot: Start the Z-axis vertical beam and drive the adjustment mechanism and the bottom grinding assembly to be vertically lifted to the wellhead of the nuclear waste storage well; dismantle the bottom grinding assembly and the adjustment mechanism in sequence, and remove the three-axis truss mechanism from the wellhead of the nuclear waste storage well.

[0019] Compared with the prior art, the present invention has the following advantages: 1. This invention modularizes the components of the grinding robot, enabling rapid assembly and disassembly through modular installation. Simultaneously, the grinding mechanism features a lightweight, hollow design, reducing the overall weight of the equipment and facilitating on-site handling and deployment, adapting to the operational needs of different construction sites. By combining the three-axis truss mechanism, the grinding mechanism, and the adjustment mechanism, it achieves fully automatic, high-precision grinding of the well's four walls and bottom surface. This overcomes the limitations of traditional equipment in terms of operating range and poor specification adaptability, while also addressing the efficiency, accuracy, and safety concerns associated with traditional manual or simple equipment grinding.

[0020] 2. This invention optimizes the linkage connection structure between the Z-axis vertical beam and the adjustment mechanism to ensure the synchronization and smoothness of the three-axis linkage; the grinding mechanism is designed with a multi-grinding disc overlapping layout, with overlapping areas in the working range of adjacent grinding discs, avoiding missed areas during grinding, especially suitable for grinding the corners of square cross-section well bodies, achieving uniform surface grinding; at the same time, the side grinding components and bottom grinding components are designed with a quick-release modular structure, and the grinding discs can be replaced independently, allowing for quick replacement of grinding discs of different grit sizes according to the grinding process requirements of concrete surfaces, without disassembling the main body of the equipment, realizing integrated coarse and fine grinding operations, improving the equipment's adaptability to different grinding processes, achieving high precision, high stability, and high adaptability of the equipment, and solving problems such as uneven grinding, missed areas, cumbersome specification adaptation, and difficult on-site deployment in the prior art.

[0021] 3. This invention replaces manual downhole grinding operations with an automated mechanism. Operators can remotely control the process from outside the wellhead, completely avoiding the safety risks of falls, dust inhalation, and collisions that occur when working in a confined space at a depth of 5 meters. This fundamentally solves the long-standing pain point of operational safety in the industry, ensuring the occupational health and personal safety of construction workers. It achieves fully automated grinding of the four walls and bottom of nuclear waste storage wells, eliminating the need for multiple workers to rotate shifts. Only 1-2 operators are required to complete the task, meeting the schedule requirements of batch construction projects and significantly reducing labor costs.

[0022] 4. Through the synergistic optimization of structure and control process, this invention achieves automation, high precision, high safety, and high efficiency in the grinding operation of nuclear waste storage wells. Compared with the existing manual grinding scheme, it has achieved a qualitative leap in terms of safety, efficiency, precision, and quality, providing an efficient and reliable automated grinding solution for the construction of nuclear waste storage facilities. It has significant technological advancement, engineering practicality, and market promotion value.

[0023] In summary, this invention modularizes the components of the grinding robot, enabling rapid assembly and disassembly through modular installation. By replacing manual downhole grinding operations with an automated mechanism, operators can remotely control the robot from outside the wellhead, completely eliminating the safety risks of falls, dust inhalation, and collisions associated with manual work in the confined space of a 5-meter deep well. This fundamentally solves a long-standing industry pain point regarding operational safety, ensuring the occupational health and personal safety of construction workers. Furthermore, by combining the three-axis truss mechanism, the grinding mechanism, and the adjustment mechanism, fully automated, high-precision grinding of the well's four walls and bottom surface is achieved. This overcomes the limitations of traditional equipment in terms of operating range and poor specification adaptability, while also addressing the efficiency, accuracy, and safety concerns associated with traditional manual or simple equipment grinding.

[0024] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0025] Figure 1 This is a schematic diagram showing the positional relationship between the three-axis truss mechanism, the electrical cabinet, and the dust removal mechanism of the present invention.

[0026] Figure 2 This is a schematic diagram showing the positional relationship between the rotating component, the side translation unit, and the side grinding component of the present invention.

[0027] Figure 3 This is a schematic diagram showing the positional relationship between the rotating component, the bottom translation unit, and the bottom grinding component of the present invention.

[0028] Figure 4 This is a schematic diagram of the side translation unit of the present invention.

[0029] Figure 5 This is a schematic diagram showing the positional relationship between the grinding disc and the drive shaft within the housing of the present invention.

[0030] Figure 6 This is a schematic diagram showing the positional relationship between the grinding disc and the driven shaft within the housing of the present invention.

[0031] Figure 7 This is a flowchart of the method of the present invention.

[0032] Explanation of reference numerals in the attached figures: 1—X-axis horizontal beam; 2—Y-axis longitudinal beam; 3—Z-axis vertical beam; 4—Support leg; 5—Connecting plate; 6—Horizontal guide rail; 7—Longitudinal guide rail; 8—Main electrical cabinet; 9—Fixed base; 10—First servo motor; 11—Adapter; 12—First planetary reducer; 13—First gear; 14—Slewing bearing; 15—Second servo motor; 16—Second planetary reducer; 17—Distribution cabinet; 18—First slide plate; 19—Second slide; 20—First rack; 21—Second rack; 22—First guide rail; 23—Second guide rail; 24—First mounting plate; 25—Second mounting plate; 26—First connecting seat; 27—First mounting seat; 28—First track seat; 29—First slide rail; 30—First grinding motor; 31—First elastic buffer; 32—Anti-collision sensor; 33—Second connecting seat; 34—Second mounting base; 35—Second track; 36—Second grinding motor; 37—Second orbital mount; 38—Second elastic buffer; 39—Third planetary gearbox; 40—Grinding disc; 41—Housing; 42—Drive shaft; 43—Driven shaft; 44—Multi-ribbed pulley; 45—Adapter; 46—Adjusting block; 47—Tensioner wheel; 48—Third gear; 49—Third rack; 50—LiDAR; 51—Dust collector; 52—Dust collector cover; 53—Dust suction hose; 54—Slider; 55—Coupling. Detailed Implementation

[0033] like Figures 1 to 6 The robot shown is used for grinding the wall of a nuclear waste storage well. It includes a three-axis truss mechanism installed at the wellhead and a grinding mechanism installed at the bottom of the three-axis truss mechanism. The three-axis truss mechanism and the grinding mechanism are connected by an adjustment mechanism. An electrical cabinet and a dust removal mechanism are installed on the three-axis truss mechanism. The three-axis truss mechanism includes two X-axis horizontal beams 1, two Y-axis longitudinal beams 2, and one Z-axis vertical beam 3, all located at the wellhead of the nuclear waste storage well. The X-axis horizontal beams 1 and Y-axis longitudinal beams 2 are slidably connected, and the Y-axis longitudinal beams 2 and Z-axis vertical beams 3 are slidably connected. The electrical cabinet is mounted on one side of the Y-axis longitudinal beam 2 via a fixing seat 9, and the dust removal mechanism is mounted on the other side of the Y-axis longitudinal beam 2 via a fixing seat 9. The adjustment mechanism is installed at the bottom of the Z-axis vertical beam 3 via an adapter 11. The adjustment mechanism includes a rotating component and a translation component both installed on the adapter 11. The rotating component is arranged on one side of the adapter 11. The translation component includes a side translation unit that drives the side grinding component and a bottom translation unit that drives the bottom grinding component. The side translation unit and the bottom translation unit are both arranged on the other side of the adapter 11. The polishing mechanism includes a side polishing component disposed at the output end of the side translation unit and a bottom polishing component disposed at the output end of the bottom translation unit. The side grinding assembly includes two sets of side grinding units symmetrically arranged at the bottom of the second slide plate 19. Each side grinding unit includes a first mounting plate 24 horizontally arranged at the bottom of the second slide plate 19 and disposed on one side of the second slide plate 19. The bottom of the first mounting plate 24 is provided with multiple sets of side grinding head units, which are arranged along the length of the first mounting plate 24. The bottom grinding assembly includes two sets of bottom grinding units symmetrically arranged at the bottom of the second slide plate 19. Each bottom grinding unit includes a second mounting plate 25 horizontally arranged at the bottom of the second slide plate 19 and disposed on one side of the second slide plate 19. The bottom of the second mounting plate 25 is provided with multiple sets of bottom grinding head units, which are arranged along the length of the second mounting plate 25. Safety protection components are provided on both the side grinding head unit and the bottom grinding head unit. The dust removal mechanism includes a dust collector 51 mounted on a fixed seat 9 on the Y-axis longitudinal beam 2 and a dust removal cover 52 mounted below the Y-axis longitudinal beam 2. The dust collector 51 and the dust removal cover 52 are connected by a suction hose 53.

[0034] This invention modularizes the components of the grinding robot, enabling rapid assembly and disassembly through modular installation. Simultaneously, the grinding mechanism features a lightweight, hollow design, reducing the overall weight of the equipment and facilitating on-site handling and deployment, adapting to the operational needs of different construction sites. By combining the three-axis truss mechanism, the grinding mechanism, and the adjustment mechanism, it achieves fully automated, high-precision grinding of the well's four walls and bottom surface. This overcomes the limitations of traditional equipment in terms of operating range and poor specification adaptability, while also addressing the efficiency, accuracy, and safety concerns associated with traditional manual or simple grinding equipment.

[0035] This invention optimizes the linkage connection structure between the Z-axis vertical beam 3 and the adjustment mechanism to ensure the synchronization and smoothness of the three-axis linkage. The grinding mechanism is designed with a multi-overlapping grinding disc layout, with overlapping areas between adjacent grinding discs to avoid missed areas during grinding, especially suitable for grinding the corners of square cross-section wells, achieving uniform surface grinding. Simultaneously, the side grinding components and bottom grinding components are designed as quick-release modular structures, and the grinding discs 40 can be independently replaced. Different grit sizes can be quickly changed according to the concrete surface grinding process requirements without disassembling the main body of the equipment, achieving integrated coarse and fine grinding operations. This improves the equipment's adaptability to different grinding processes, achieving high precision, high stability, and high adaptability, solving problems such as uneven grinding, missed areas, cumbersome specification adaptation, and difficult on-site deployment in existing technologies.

[0036] This invention replaces manual grinding operations in wells with an automated mechanism. Operators can remotely control the process from outside the wellhead, completely eliminating the safety risks of falls, dust inhalation, and collisions that occur when working in the confined space of a 5-meter-deep well. It fundamentally solves the long-standing pain point of operational safety in the industry, ensuring the occupational health and personal safety of construction workers. It enables fully automated grinding of the four walls and bottom of nuclear waste storage wells, eliminating the need for multiple workers to rotate shifts. Only 1-2 operators are required to complete the task, which can meet the schedule requirements of batch construction projects and significantly reduce labor costs.

[0037] It should be noted that the present invention can be adapted to the basic operational requirements of a 5-meter deep square cross-section storage well. The dust removal cover 52 is designed with a conical structure and an increased flexible end to improve its fit with the well opening, forming a fully enclosed dust collection space to prevent dust from escaping. The dust collector 51 is equipped with a multi-stage filtration device to achieve efficient collection and filtration of dust and avoid secondary pollution.

[0038] Specifically, a pre-programmed grinding path for the well body specifications is embedded in the electrical control system of the electrical cabinet. After the equipment starts, the storage well to be ground is selected, and the equipment automatically calls the corresponding pre-programmed grinding path. Standardized grinding paths are pre-programmed for the four walls and bottom surface of the square cross-section well body. The four walls adopt a vertical uniform up-and-down movement path, and the bottom surface adopts a horizontal covering path. The algorithm automatically optimizes the matching logic between the X / Y axis movement trajectory and the rotation angle of the rotating component to ensure that the movement speed and rotation angle of the grinding head are consistent throughout the entire range. The linkage control program of the three-axis truss mechanism, rotating component, and adjustment mechanism is optimized, and a servo synchronous control algorithm is adopted to achieve precise synchronous displacement and rotation of each axis. During the grinding process, the linear speed error of the grinding head is controlled within a very small range, ensuring uniform grinding speed and improving the flatness and quality stability of the ground surface, which is far higher than the quality standard of manual grinding and meets the high-precision construction quality requirements of nuclear waste storage wells.

[0039] In actual use, the dust collector 51 is placed statically outside the wellhead and connected to the dust collector cover 52 via the suction hose 53. The dust collector cover 52 has a conical structure and wraps around the outside of the grinding disc 40 when static, forming a sealed dust suction space. This achieves efficient collection of grinding dust as it is produced, resulting in high dust removal efficiency. It completely solves the problem of dust diffusion in the sealed space of deep wells, avoids dust pollution, and improves the environmental friendliness of the work site. The safety protection components mainly include anti-collision sensors and elastic buffer structures. The anti-collision sensors are a combination of lidar 50 and contact sensors, which are installed on the outside of the grinding head unit when static. In addition, a lidar positioning system is added, installed at the lower end and both ends of the Y-axis longitudinal beam 2 and the top of the Z-axis vertical beam 3, to scan the external space of the equipment in real time. Together with the anti-collision sensors 32, it achieves active anti-collision + passive buffer dual protection, ensuring safety both inside and outside the well during equipment operation, reducing the probability of equipment damage, and improving the safety and durability of equipment operation. The modular design of the equipment also facilitates subsequent maintenance and repair, reducing the equipment's operation and maintenance costs. The elastic buffer structure employs a spring-type compensation mechanism, which connects between the mounting base and the track base when static, providing adaptive buffering for the grinding disc 40. For example... Figure 1 As shown, the electrical cabinet includes a main electrical cabinet 8 and a sub-electrical cabinet 17. When static, the main electrical cabinet 8 and the sub-electrical cabinet 17 are arranged outside the wellhead and electrically connected to the servo drive system of the three-axis truss mechanism and the adjustment mechanism, providing power and core control for the equipment. It also includes a remote control Pad that is wirelessly connected to the controller. The equipment does not require manual entry into the well. Operators can complete all operations from outside the wellhead through the remote control Pad, completely replacing manual downhole grinding operations and realizing remote operation of the equipment, fundamentally solving the safety risks and efficiency problems of manual grinding.

[0040] In this embodiment, two X-axis crossbeams 1 are symmetrically arranged on both sides of the opening of the nuclear waste storage well, and multiple support legs 4 are vertically arranged at the bottom of the X-axis crossbeams 1; the Y-axis longitudinal beams 2 are symmetrically arranged between the two X-axis crossbeams 1, and the Z-axis vertical beams 3 are vertically arranged between the two Y-axis longitudinal beams 2. A transverse guide rail 6 is horizontally arranged on the X-axis crossbeam 1 for sliding the Y-axis longitudinal beam 2, and a longitudinal guide rail 7 is horizontally arranged on the Y-axis longitudinal beam 2 for sliding the Z-axis vertical beam 3. The transverse guide rail 6 is arranged along the length direction of the X-axis crossbeam 1, and the longitudinal guide rail 7 is arranged along the length direction of the Y-axis longitudinal beam 2.

[0041] In actual use, the length of the X-axis beam 1 can be adjusted according to the actual situation of the nuclear waste storage well, allowing for assembly. A connecting plate 5 is horizontally installed at the bottom of the support leg 4; bolts are used to thread the connecting plate 5 to position the X-axis beam 1. Figure 1As shown, rollers are provided at the connection between the Y-axis longitudinal beam 2 and the X-axis transverse beam 1, and rollers are also provided at the connection between the Z-axis vertical beam 3 and the Y-axis longitudinal beam 2, so that the Y-axis longitudinal beam 2 can move on the transverse guide rail 6 and the Z-axis vertical beam 3 can move on the longitudinal guide rail 7, respectively.

[0042] In this embodiment, the rotating assembly includes a first servo motor 10 disposed on one side of the adapter 11. The bottom of the first servo motor 10 is connected to a first planetary reducer 12 via a coupling 55. A first gear 13 is connected to the output shaft of the first planetary reducer 12. A slewing bearing 14 that meshes with the first gear 13 is horizontally disposed at the bottom of the adapter 11. The slewing bearing 14 is fixedly connected to the first slide plate 18.

[0043] In this embodiment, the side translation unit includes a side drive component disposed on the other side of the adapter 11 and a side translation component connected to the side drive component; the side drive component includes a second servo motor 15 disposed on the other side of the adapter 11, the bottom of the second servo motor 15 is connected to the top of the second planetary reducer 16 through a coupling 55, the bottom of the second planetary reducer 16 is connected to the first slide plate 18, and a second gear is connected to the output shaft of the second planetary reducer 16, the second gear being disposed on the bottom of the first slide plate 18; A second slide plate 19 is horizontally arranged at the bottom of the first slide plate 18. The second gear is arranged between the first slide plate 18 and the second slide plate 19. A first rack 20 is arranged at the bottom of the first slide plate 18. A second rack 21 is arranged on the top surface of the second slide plate 19. The first rack 20 and the second rack 21 are arranged on the same side of the first slide plate 18. The second gear is arranged between the first rack 20 and the second rack 21, and the second gear is engaged with the first rack 20 and the second rack 21.

[0044] In actual use, such as Figure 4 As shown, the side drive component is fixed to the rotating mechanism via positioning pins and bolts. The second servo motor 15 is fixed to the second planetary reducer 16 via a coupling 55. The output shaft of the second planetary reducer 16 is connected to the second gear key. The second gear meshes with the first rack 20 and the second rack 21 for transmission. The first rack 20 and the second rack 21 are respectively fixed to the first slide plate 18 and the second slide plate 19. The first slide plate 18 and the second slide plate 19 are fixedly mounted on the slider 54 of the first guide rail 22 and the second guide rail 23, thereby controlling the synchronous movement of the first slide plate 18 and the second slide plate 19 via the servo motor.

[0045] In this embodiment, the bottom translation unit includes a bottom drive component disposed on the other side of the adapter 11 and a bottom translation component connected to the bottom drive component; the bottom drive component includes a second servo motor 15, the bottom of the second servo motor 15 is connected to the top of the third planetary reducer 39 through a coupling 55, a third gear 48 is connected to the output shaft of the third planetary reducer 39, the third gear 48 is disposed on the bottom of the first slide plate 18, and a third rack 49 that meshes with the third gear 48 is disposed on the bottom of the first slide plate 18.

[0046] In actual use, such as Figure 3 As shown, the bottom drive component is fixed to the rotating mechanism by positioning pins and bolts. The second servo motor 15 and the third planetary reducer 39 are fixed to each other by coupling 55. The output shaft of the third planetary reducer 39 is keyed to the third gear 48. The third gear 48 meshes with the third rack 49 to achieve horizontal movement during the grinding process.

[0047] In this embodiment, the side translation member and the bottom translation member have the same structure. Both the side translation member and the bottom translation member include a first guide rail 22 and a second guide rail 23 symmetrically arranged at the bottom of the first slide plate 18. The top of the second slide plate 19 is provided with a slider 54 that cooperates with the first guide rail 22 and the second guide rail 23.

[0048] In this embodiment, both the side grinding head unit and the bottom grinding head unit are three-head grinding head structures. The side grinding head unit includes a first connecting seat 26 disposed at the bottom of the first mounting plate 24. The bottom of the first connecting seat 26 is connected to a first mounting seat 27. A first track seat 28 is connected to the first mounting seat 27. Two sliders are symmetrically disposed at the top of the first track seat 28. A first slide rail 29 is slidably disposed inside the sliders. A first grinding motor 30 is disposed at the bottom of the first track seat 28. A first three-head grinding head is connected to the output shaft of the first grinding motor 30. The first connecting seat 26 has an I-shaped structure, the first mounting seat 27 has an L-shaped structure, and the first track seat 28 has an inverted U-shaped structure. The horizontal section of the first mounting seat 27 is located at the bottom of the first connecting seat 26, and the vertical section of the first mounting seat 27 is located on the side of the first connecting seat 26 away from the first three-head grinding head. The safety protection components on the side grinding head unit include a first elastic buffer 31 horizontally disposed in the gap between the vertical section of the first mounting base 27 and the first track base 28, and an anti-collision sensor 32 disposed on the side of the first track base 28.

[0049] In this embodiment, the bottom grinding head unit includes a second connecting seat 33 vertically disposed at the bottom of the second mounting plate 25, a second mounting seat 34 horizontally connected to the side of the second connecting seat 33, a second track seat 37 vertically disposed below the second mounting seat 34, the second mounting seat 34 and the second track seat 37 being connected by bolts, two sliders symmetrically disposed on the side of the second track seat 37 near the second connecting seat 33, a second track 35 slidably disposed within the sliders, the second track 35 being mounted on the side of the second connecting seat 33 near the second mounting seat 34; a second grinding motor 36 is disposed on the side of the second track seat 37 away from the second connecting seat 33, and a second three-head grinding head is connected to the output shaft of the second grinding motor 36; The second connecting seat 33 is a flat plate structure, the second mounting seat 34 is a U-shaped structure, and the second track seat 37 is a U-shaped structure; The safety protection components on the bottom grinding head unit include a second elastic buffer 38 horizontally disposed between the second mounting base 34 and the second track base 37 and an anti-collision sensor 32 disposed on the top of the second track base 37. The second elastic buffer 38 is parallel to the bolt.

[0050] In this embodiment, the first three-head grinding head and the second three-head grinding head have the same structure. Both the first three-head grinding head and the second three-head grinding head include a coupling 55 installed on the output shaft of the first grinding motor 30 or the second grinding motor 36. Three grinding discs 40 are connected to the coupling 55. A housing 41 is provided between the coupling 55 and the grinding discs 40. A transmission component that drives the grinding discs 40 to move is provided inside the housing 41. The transmission assembly includes a drive shaft 42 disposed between a coupling 55 and a grinding disc 40. The drive shaft 42, the coupling 55, and the grinding disc 40 are all disposed at one end of the housing 41. Two other grinding discs 40 are disposed at the other end of the housing 41, and each of the other two grinding discs 40 is connected to a driven shaft 43. The drive shaft 42 and the driven shaft 43 are parallel, and the drive shaft 42 and the driven shaft 43 are connected by a multi-wedge pulley 44.

[0051] like Figure 5 and Figure 6As shown, to ensure the normal use of the first and second three-head grinding heads, adapters 45 are provided between the grinding discs 40 connected to the drive shaft 42 and between the grinding discs 40 connected to the driven shaft 43. The adapters 45 are fixed and prevented from rotating via the flat opening and threads on the drive shaft 42 or driven shaft 43. The drive shaft 42 is connected to the multi-ribbed pulley 44 via a key, and the axial position of the multi-ribbed pulley 44 is fixed by a lock nut. The drive shaft 42 is fixed to the coupling 55, thereby achieving transmission. The connection between the driven shaft 43 and the multi-ribbed pulley 44 is the same as that between the drive shaft 42 and the multi-ribbed pulley 44. An adjusting block 46 is also provided inside the housing 41, and bolts are fixed to the housing 41. The tension of the multi-ribbed belt is achieved by adjusting the position of the adjusting block 46. A tensioning wheel 47 is also provided inside the housing 41, and bolts are fixed to the adjusting block 46.

[0052] like Figures 1 to 7 The method shown is a method for grinding the well wall of a nuclear waste storage well using a grinding robot. The method includes the following steps: Step 1: Preparatory work before grinding: Divide the four walls and bottom of the nuclear waste storage well into sections. Divide the four walls of the nuclear waste storage well along the height direction of the well, with the height of each section being the height of the side grinding assembly. Divide the bottom of the nuclear waste storage well along the width direction of the well, with the width of each section being the width of the bottom grinding assembly. Move the three-axis truss mechanism to the wellhead of the nuclear waste storage well. Step 2: Determine the four walls of the nuclear waste storage well to be ground and install the grinding robot. The process is as follows: Step 201: Install the side translation unit on the adapter 11 and install the side grinding assembly on the bottom of the second slide plate 19; Step 202: Install the grinding robot with the side translation unit and the side grinding assembly installed at the wellhead of the nuclear waste storage well, so that the same end of both sets of the side grinding units is in close contact with the same side edge of the nuclear waste storage well; start the Z-axis vertical beam 3 and drive the adjustment mechanism and the side grinding assembly to be vertically lowered into the nuclear waste storage well until the top of the side grinding assembly is flush with the top of the area to be ground in the nuclear waste storage well; Step 203: Start the second servo motor 15 in the side translation unit so that the first three grinding heads in the two sets of side grinding units are in close contact with the pair of opposing well walls in the nuclear waste storage well, and then turn off the second servo motor 15. Step 3: Grind the four walls of the nuclear waste storage well, as follows: Step 301: Start the first grinding motor 30. The first grinding motor 30 drives the first three-head grinding head to grind the four walls of the nuclear waste storage well. After grinding is completed, turn off the first grinding motor 30. Step 302: Start the second servo motor 15 in the side translation unit to move the two sets of side grinding units along the width direction of the well wall of the nuclear waste storage well. The distance moved is the length of the side grinding unit. Then repeat step 301 until the grinding of both sides of the four walls of the nuclear waste storage well is completed. Step 303: Start the second servo motor 15 in the side translation unit to drive the two sets of side grinding units to move towards the center of the nuclear waste storage well, so that the edge of the side grinding unit is separated from the four walls of the nuclear waste storage well; then start the first servo motor 10, and under the drive of the rotating component, realize the rotation of the side grinding component, so that the two sets of side grinding units rotate 90°. Step 304: Start the second servo motor 15 in the side translation unit so that the first three grinding heads in the two sets of side grinding units are in close contact with the other pair of oppositely arranged four walls of the nuclear waste storage well, and then turn off the second servo motor 15. Step 305: Repeat steps 301 and 302 until the grinding of the other two sides of the four walls of the nuclear waste storage well is completed, thus completing the grinding of one section of the four walls of the nuclear waste storage well. Step 306: Start the Z-axis vertical beam 3 and drive the adjustment mechanism and the side grinding assembly to be lowered vertically. The distance of the lowering is the height of the side grinding unit. Step 307: Repeat steps 301 to 305 to complete the grinding of the four walls of the nuclear waste storage well described in the next section; Step 308: Repeat steps 306 and 307 until all grinding work on the four walls of the nuclear waste storage well is completed; Step 4: Determine the bottom surface of the nuclear waste storage well to be ground and install the grinding robot. The process is as follows: Step 401: Start the Z-axis vertical beam 3 and drive the adjustment mechanism and the side grinding assembly to be vertically lifted to the wellhead of the nuclear waste storage well. Remove the side translation unit and the side grinding assembly, and install the bottom translation unit on the adapter 11. Install the bottom grinding assembly on the bottom of the second slide plate 19. Step 402: Install the grinding robot with the bottom translation unit and the bottom grinding assembly installed at the wellhead of the nuclear waste storage well, so that the same end of the two sets of bottom grinding units is in close contact with the same side edge of the nuclear waste storage well; start the Z-axis vertical beam 3 and drive the adjustment mechanism and the bottom grinding assembly to be vertically lowered to the bottom of the nuclear waste storage well; Step 403: Start the second servo motor 15 in the bottom translation unit so that the second and third grinding heads in the bottom grinding unit are in close contact with one side of the well wall at the bottom of the nuclear waste storage well, and then turn off the second servo motor 15. Step 5: Grind the bottom surface of the nuclear waste storage well, as follows: Step 501: Start the second grinding motor 36. The second grinding motor 36 drives the second and third grinding heads to grind the bottom of the nuclear waste storage well. After grinding is completed, turn off the second grinding motor 36. Step 502: Start the second servo motor 15 in the bottom translation unit to move the two sets of bottom grinding units toward the length of the bottom of the nuclear waste storage well. The distance moved is the length of the bottom grinding unit. Repeat step 501 until the grinding of a section of the bottom of the nuclear waste storage well is completed. Step 503: Start the second servo motor 15 in the bottom translation unit to drive the two sets of bottom grinding units to move along the width direction of the nuclear waste storage well, and the distance moved is the width of the bottom grinding unit. Step 504: Repeat steps 501 and 503 until all grinding work at the bottom of the nuclear waste storage well is completed; Step 6: Remove the grinding robot: Start the Z-axis vertical beam 3 and drive the adjustment mechanism and the bottom grinding assembly to be vertically lifted to the wellhead of the nuclear waste storage well; dismantle the bottom grinding assembly and the adjustment mechanism in sequence, and remove the three-axis truss mechanism from the wellhead of the nuclear waste storage well.

[0053] This invention achieves automation, high precision, high safety, and high efficiency in the grinding operation of nuclear waste storage wells through the synergistic optimization of structure and control process. Compared with the existing manual grinding scheme, it has achieved a qualitative leap in terms of safety, efficiency, precision, and quality, and provides an efficient and reliable automated grinding solution for the construction of nuclear waste storage facilities. It has significant technological advancement, engineering practicality, and market promotion value.

[0054] It should be noted that during the grinding process in steps two and four, the dust removal mechanism needs to be started simultaneously. The dust removal cover 52 is used to suck in the dust and transport it to the dust collector 51 through the suction hose 53 for collection. At the same time, the safety protection components installed on the side grinding head unit and the bottom grinding head unit can monitor the working environment in real time. If the first three-head grinding head or the second three-head grinding head is detected to be in contact with a protrusion or the equipment is about to collide with the well wall, the elastic buffer will first perform adaptive compensation. If it exceeds the compensation range, the anti-collision sensor 32 will trigger an alarm and control the equipment to stop immediately to avoid damage to the equipment.

[0055] In steps 202 and 402, if the distance moved by the side grinding unit and the bottom grinding unit is less than the length of the side grinding unit or the distance moved by the bottom grinding unit, the moving distance can be adjusted according to the actual grinding situation. This can be achieved by changing the specifications of the first three-head grinding head and the second three-head grinding head.

[0056] The above description is merely a preferred embodiment of the present invention and does not constitute any limitation on the present invention. Any simple modifications, alterations, or equivalent structural changes made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A nuclear waste storage well wall polishing robot characterized by: A three-axis truss mechanism is installed at the wellhead of the nuclear waste storage well, and a grinding mechanism is installed at the bottom of the three-axis truss mechanism. The three-axis truss mechanism and the grinding mechanism are connected by an adjustment mechanism. An electrical cabinet and a dust removal mechanism are installed on the three-axis truss mechanism. The three-axis truss mechanism includes two X-axis crossbeams (1), two Y-axis longitudinal beams (2), and one Z-axis vertical beam (3) located at the wellhead of the nuclear waste storage well; the X-axis crossbeams (1) and the Y-axis longitudinal beams (2) are slidably connected, and the Y-axis longitudinal beams (2) and the Z-axis vertical beams (3) are slidably connected; the electrical cabinet is installed on one side of the Y-axis longitudinal beams (2) via a fixed base (9), and the dust removal mechanism is installed on the other side of the Y-axis longitudinal beams (2) via a fixed base (9); The adjustment mechanism is installed at the bottom of the Z-axis vertical beam (3) via a transition seat (11). The adjustment mechanism includes a rotating component and a translation component, both of which are installed on the transition seat (11). The rotating component is arranged on one side of the transition seat (11). The translation component includes a side translation unit that drives the side grinding component and a bottom translation unit that drives the bottom grinding component. The side translation unit and the bottom translation unit are both arranged on the other side of the transition seat (11). The polishing mechanism includes a side polishing component disposed at the output end of the side translation unit and a bottom polishing component disposed at the output end of the bottom translation unit. The side polishing assembly includes two sets of side polishing units symmetrically arranged at the bottom of the second slide plate (19). The side polishing unit includes a first mounting plate (24) horizontally arranged at the bottom of the second slide plate (19) and arranged on one side of the second slide plate (19). The bottom of the first mounting plate (24) is provided with multiple sets of side polishing head units, and the multiple sets of side polishing head units are arranged along the length direction of the first mounting plate (24). The bottom grinding assembly includes two sets of bottom grinding units symmetrically arranged at the bottom of the second slide plate (19). The bottom grinding unit includes a second mounting plate (25) horizontally arranged at the bottom of the second slide plate (19) and arranged on one side of the second slide plate (19). The bottom of the second mounting plate (25) is provided with multiple sets of bottom grinding head units. The multiple sets of bottom grinding head units are arranged along the length direction of the second mounting plate (25). Safety protection components are provided on both the side grinding head unit and the bottom grinding head unit. The dust removal mechanism includes a dust collector (51) mounted on a fixed base (9) on the Y-axis longitudinal beam (2) and a dust removal cover (52) mounted below the Y-axis longitudinal beam (2). The dust collector (51) and the dust removal cover (52) are connected by a suction hose (53).

2. A nuclear waste storage well wall polishing robot according to claim 1, characterised in that: Two X-axis crossbeams (1) are symmetrically arranged on both sides of the opening of the nuclear waste storage well, and multiple support legs (4) are vertically arranged at the bottom of the X-axis crossbeams (1); the Y-axis longitudinal beams (2) are symmetrically arranged between the two X-axis crossbeams (1), and the Z-axis vertical beams (3) are vertically arranged between the two Y-axis longitudinal beams (2); A transverse guide rail (6) is horizontally arranged on the X-axis crossbeam (1) for sliding the Y-axis longitudinal beam (2), and a longitudinal guide rail (7) is horizontally arranged on the Y-axis longitudinal beam (2) for sliding the Z-axis vertical beam (3). The transverse guide rail (6) is arranged along the length direction of the X-axis crossbeam (1), and the longitudinal guide rail (7) is arranged along the length direction of the Y-axis longitudinal beam (2).

3. A nuclear waste storage well wall polishing robot according to claim 1, characterized in that: The rotating assembly includes a first servo motor (10) disposed on one side of the adapter (11). The bottom of the first servo motor (10) is connected to a first planetary reducer (12) via a coupling (55). A first gear (13) is connected to the output shaft of the first planetary reducer (12). A slewing bearing (14) meshing with the first gear (13) is horizontally disposed at the bottom of the adapter (11). The slewing bearing (14) is fixedly connected to the first slide plate (18).

4. A nuclear waste storage well wall polishing robot according to claim 3, characterised in that: The side translation unit includes a side drive component disposed on the other side of the adapter (11) and a side translation component connected to the side drive component; the side drive component includes a second servo motor (15) disposed on the other side of the adapter (11), the bottom of the second servo motor (15) is connected to the top of the second planetary reducer (16) through a coupling (55), the bottom of the second planetary reducer (16) is connected to the first slide plate (18), and a second gear is connected to the output shaft of the second planetary reducer (16), the second gear being disposed on the bottom of the first slide plate (18); A second slide plate (19) is horizontally arranged at the bottom of the first slide plate (18). The second gear is arranged between the first slide plate (18) and the second slide plate (19). A first rack (20) is arranged at the bottom of the first slide plate (18). A second rack (21) is arranged on the top surface of the second slide plate (19). The first rack (20) and the second rack (21) are arranged on the same side of the first slide plate (18). The second gear is arranged between the first rack (20) and the second rack (21). The second gear is engaged with the first rack (20) and the second rack (21).

5. A nuclear waste storage well wall polishing robot according to claim 4, characterised in that: The bottom translation unit includes a bottom drive component and a bottom translation component connected to the bottom drive component on the other side of the adapter (11); the bottom drive component includes a second servo motor (15), the bottom of the second servo motor (15) is connected to the top of the third planetary reducer (39) through a coupling (55), a third gear (48) is connected to the output shaft of the third planetary reducer (39), the third gear (48) is arranged at the bottom of the first slide plate (18), and a third rack (49) meshing with the third gear (48) is provided at the bottom of the first slide plate (18).

6. A nuclear waste storage well wall polishing robot according to claim 5, characterised in that: The side translation component and the bottom translation component have the same structure. Both the side translation component and the bottom translation component include a first guide rail (22) and a second guide rail (23) symmetrically arranged at the bottom of the first slide plate (18). The top of the second slide plate (19) is provided with a slider (54) that cooperates with the first guide rail (22) and the second guide rail (23).

7. A nuclear waste storage well wall polishing robot according to claim 1, characterized in that: Both the side grinding head unit and the bottom grinding head unit are three-head grinding head structures. The side grinding head unit includes a first connecting seat (26) located at the bottom of the first mounting plate (24). The bottom of the first connecting seat (26) is connected to a first mounting seat (27). A first track seat (28) is connected to the first mounting seat (27). Two sliders are symmetrically arranged on the top of the first track seat (28). A first slide rail (29) is slidably arranged inside the sliders. A first grinding motor (30) is located at the bottom of the first track seat (28). A first three-head grinding head is connected to the output shaft of the first grinding motor (30). The first connecting seat (26) is an I-shaped structure, the first mounting seat (27) is an L-shaped structure, the first track seat (28) is an inverted U-shaped structure, the horizontal section of the first mounting seat (27) is located at the bottom of the first connecting seat (26), and the vertical section of the first mounting seat (27) is located on the side of the first connecting seat (26) away from the first three-head grinding head. The safety protection components on the side grinding head unit include a first elastic buffer (31) horizontally disposed in the gap between the vertical section of the first mounting base (27) and the first track base (28) and an anti-collision sensor (32) disposed on the side of the first track base (28).

8. A nuclear waste storage well wall polishing robot according to claim 7, characterised in that: The bottom grinding head unit includes a second connecting seat (33) vertically arranged at the bottom of the second mounting plate (25), a second mounting seat (34) horizontally connected to the side of the second connecting seat (33), a second track seat (37) vertically arranged below the second mounting seat (34), the second mounting seat (34) and the second track seat (37) being connected by bolts, two sliders symmetrically arranged on the side of the second track seat (37) near the second connecting seat (33), a second track (35) slidably arranged in the slider, the second track (35) being installed on the side of the second connecting seat (33) near the second mounting seat (34); a second grinding motor (36) is arranged on the side of the second track seat (37) away from the second connecting seat (33), and a second three-head grinding head is connected to the output shaft of the second grinding motor (36); The second connecting seat (33) is a flat plate structure, the second mounting seat (34) is a U-shaped structure, and the second track seat (37) is a U-shaped structure; The safety protection components on the bottom grinding head unit include a second elastic buffer (38) horizontally disposed between the second mounting base (34) and the second track base (37) and an anti-collision sensor (32) disposed on the top of the second track base (37), the second elastic buffer (38) being parallel to the bolt.

9. A nuclear waste storage well wall polishing robot according to claim 8, characterised in that: The first three-head grinding head and the second three-head grinding head have the same structure. Both the first three-head grinding head and the second three-head grinding head include a coupling (55) installed on the output shaft of the first grinding motor (30) or the second grinding motor (36). Three grinding discs (40) are connected to the coupling (55). A housing (41) is provided between the coupling (55) and the grinding discs (40). A transmission component that drives the grinding discs (40) to move is provided inside the housing (41). The transmission assembly includes a drive shaft (42) disposed between a coupling (55) and a grinding disc (40). The drive shaft (42), the coupling (55), and the grinding disc (40) are all disposed at one end of the housing (41). Two other grinding discs (40) are disposed at the other end of the housing (41), and each of the other two grinding discs (40) is connected to a driven shaft (43). The drive shaft (42) and the driven shaft (43) are parallel to each other and are connected by a multi-wedge pulley (44).

10. A method of abrading a storage well wall by a nuclear waste storage well wall abrading robot according to claim 9, characterized in that, The method includes the following steps: Step 1: Preparatory work before grinding: Divide the four walls and bottom of the nuclear waste storage well into sections. Divide the four walls of the nuclear waste storage well along the height direction of the well, with the height of each section being the height of the side grinding assembly. Divide the bottom of the nuclear waste storage well along the width direction of the well, with the width of each section being the width of the bottom grinding assembly. Move the three-axis truss mechanism to the wellhead of the nuclear waste storage well. Step 2: Determine the four walls of the nuclear waste storage well to be ground and install the grinding robot. The process is as follows: Step 201: Install the side translation unit on the adapter (11) and install the side grinding assembly on the bottom of the second slide plate (19); Step 202: Install the grinding robot with the side translation unit and the side grinding assembly installed at the wellhead of the nuclear waste storage well, so that the same end of the two sets of side grinding units is in close contact with the same side edge of the nuclear waste storage well; start the Z-axis vertical beam (3) and drive the adjustment mechanism and the side grinding assembly to be vertically lowered into the nuclear waste storage well until the top of the side grinding assembly is flush with the top of the area to be ground in the nuclear waste storage well; Step 203: Start the second servo motor (15) in the side translation unit so that the first three grinding heads in the two sets of side grinding units are in close contact with the pair of opposing well walls in the nuclear waste storage well, and then turn off the second servo motor (15). Step 3: Grind the four walls of the nuclear waste storage well, as follows: Step 301: Start the first grinding motor (30). The first grinding motor (30) drives the first three-head grinding head to grind the four walls of the nuclear waste storage well. After grinding is completed, turn off the first grinding motor (30). Step 302: Start the second servo motor (15) in the side translation unit to move the two sets of side grinding units along the width direction of the well wall of the nuclear waste storage well. The distance moved is the length of the side grinding unit. Then repeat step 301 until the grinding of both sides of the four walls of the nuclear waste storage well is completed. Step 303: Start the second servo motor (15) in the side translation unit to drive the two sets of side grinding units to move towards the center of the nuclear waste storage well, so that the edge of the side grinding unit is separated from the four walls of the nuclear waste storage well; then start the first servo motor (10) to realize the rotation of the side grinding assembly under the drive of the rotating component, so that the two sets of side grinding units rotate 90°. Step 304: Start the second servo motor (15) in the side translation unit so that the first three grinding heads in the two sets of side grinding units are in close contact with the other pair of oppositely arranged four walls of the nuclear waste storage well, and then turn off the second servo motor (15). Step 305: Repeat steps 301 and 302 until the grinding of the other two sides of the four walls of the nuclear waste storage well is completed, thus completing the grinding of one section of the four walls of the nuclear waste storage well. Step 306: Start the Z-axis vertical beam (3) and drive the adjustment mechanism and the side grinding assembly to be lowered vertically. The distance of the lowering is the height of the side grinding unit. Step 307: Repeat steps 301 to 305 to complete the grinding of the four walls of the nuclear waste storage well described in the next section; Step 308: Repeat steps 306 and 307 until all grinding work on the four walls of the nuclear waste storage well is completed; Step 4: Determine the bottom surface of the nuclear waste storage well to be ground and install the grinding robot. The process is as follows: Step 401: Start the Z-axis vertical beam (3) and drive the adjustment mechanism and the side grinding assembly to be vertically lifted to the wellhead of the nuclear waste storage well. Remove the side translation unit and the side grinding assembly, and install the bottom translation unit on the adapter (11). Install the bottom grinding assembly on the bottom of the second slide plate (19). Step 402: Install the grinding robot with the bottom translation unit and the bottom grinding assembly installed at the wellhead of the nuclear waste storage well, so that the same end of the two sets of bottom grinding units is in close contact with the same side edge of the nuclear waste storage well; start the Z-axis vertical beam (3) and drive the adjustment mechanism and the bottom grinding assembly to be vertically lowered to the bottom of the nuclear waste storage well; Step 403: Start the second servo motor (15) in the bottom translation unit so that the second and third grinding heads in the bottom grinding unit are in close contact with one side of the bottom wall of the nuclear waste storage well, and then turn off the second servo motor (15). Step 5: Grind the bottom surface of the nuclear waste storage well, as follows: Step 501: Start the second grinding motor (36). The second grinding motor (36) drives the second and third grinding heads to grind the bottom of the nuclear waste storage well. After grinding is completed, turn off the second grinding motor (36). Step 502: Start the second servo motor (15) in the bottom translation unit to move the two sets of bottom grinding units toward the length of the bottom of the nuclear waste storage well. The distance moved is the length of the bottom grinding unit. Repeat step 501 until the grinding of a section of the bottom of the nuclear waste storage well is completed. Step 503: Start the second servo motor (15) in the bottom translation unit to drive the two sets of bottom grinding units to move along the width direction of the nuclear waste storage well. The distance moved is the width of the bottom grinding unit. Step 504: Repeat steps 501 and 503 until all grinding work at the bottom of the nuclear waste storage well is completed; Step 6: Remove the grinding robot: Start the Z-axis vertical beam (3) and drive the adjustment mechanism and the bottom grinding assembly to be vertically lifted to the wellhead of the nuclear waste storage well; dismantle the bottom grinding assembly and the adjustment mechanism in sequence, and remove the three-axis truss mechanism from the wellhead of the nuclear waste storage well.

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