Stirring and suction tool head and movable device for radioactive waste liquid sediment

Abstract

The embodiments of the present application relate to the technical field of radioactive material treatment, and in particular to a stirring and suction tool head and a movable device for radioactive waste liquid sediments. The stirring and suction tool head comprises: a body, a hollow shaft and a stirring wheel. One side of the body is provided with a suction interface and a high-pressure water interface for docking with a suction pipeline and a high-pressure water pipeline respectively, and the other side of the body is provided with an opening connected to the suction interface and a high-pressure water pipe section connected to the high-pressure water interface, and the side wall of the high-pressure water pipe section is provided with a liquid outlet for high-pressure water to flow out. The hollow shaft is inserted into the opening and is connected to the suction interface. The stirring wheel is rotatably mounted on the hollow shaft, and the stirring wheel includes a plurality of blades extending in a spiral shape. Among them, the liquid outlet of the high-pressure water pipe section is arranged facing the blades of the stirring wheel, so as to use high-pressure water to drive the stirring wheel to rotate. The stirring and suction tool head of the embodiment of the present application has the advantage of good stirring effect.

Description

Technical Field

[0001] The present application relates to the technical field of radioactive material processing, and in particular to a stirring and suction tool head and a movable device for radioactive waste liquid sedimentation. Background Art

[0002] Currently, mobile equipment is used to retrieve radioactive waste sediment from storage tanks. These devices typically feature a stirring device and a suction device at the front end. The stirring device is used to stir the radioactive waste sediment to form a suspension, while the suction device is used to extract the suspension. However, these devices suffer from poor stirring performance. Summary of the Invention

[0003] In order to solve the above technical problems, the first aspect of the present application provides a stirring and suction tool head, which has the advantage of good stirring effect. The second aspect of the present application also provides a movable device for cleaning radioactive waste liquid sediments having the tool head.

[0004] According to the first aspect of the present application, an embodiment of the present application provides a stirring and suction tool head, comprising: a main body, one side of the main body is provided with a suction interface and a high-pressure water interface for connecting with the suction pipeline and the high-pressure water pipeline respectively, the other side of the main body is provided with an opening connected to the suction interface and a high-pressure water pipe section connected to the high-pressure water interface, the side wall of the high-pressure water pipe section is provided with a liquid outlet for high-pressure water to flow out; a hollow shaft, inserted into the opening and connected to the suction interface; and a stirring wheel, rotatably mounted on the hollow shaft, the stirring wheel comprising a plurality of blades extending in a spiral shape; wherein the liquid outlet of the high-pressure water pipe section is arranged facing the blades of the stirring wheel, so as to utilize high-pressure water to drive the stirring wheel to rotate.

[0005] According to the second aspect of the present application, an embodiment of the present application provides a movable device for cleaning radioactive waste liquid sediments, comprising: a chassis assembly, configured to be able to walk in radioactive waste liquid sediments, the chassis assembly comprising a bottom plate, two end plates respectively located at opposite ends of the bottom plate, and two side plates respectively located on opposite sides of the bottom plate, the bottom plate, the two end plates and the two side plates jointly define a receiving tank with a top opening; a suction pipeline, arranged on the chassis assembly for sucking fluid; a high-pressure water pipeline, used to provide high-pressure fluid; a robotic arm, arranged on the bottom plate, the robotic arm being configured to enable its end to extend outward from the top opening of the receiving tank; a first joint, arranged at the end of the robotic arm, the first joint comprising: a suction adapter for communicating with the suction pipeline and a high-pressure water adapter for communicating with the high-pressure water pipeline; and a stirring and suction tool head of the first aspect of the present application, the tool head being connected to the first joint, wherein the suction interface of the tool head is docked with the suction adapter of the first joint, and the high-pressure water interface of the tool head is docked with the high-pressure water adapter of the first joint.

[0006] The interior of the hollow shaft of the stirring and suction tool head of the embodiment of the present application is connected to the suction interface, so that the middle part of the stirring and suction tool head has a suction function. At the same time, the stirring wheel is rotatably mounted on the hollow shaft, so that the stirring and suction tool head has a stirring function. That is to say, the stirring and suction tool head of the embodiment of the present application has both suction and stirring functions. In this way, when the stirring and suction tool head is used to stir the radioactive waste liquid sediment, the radioactive waste liquid sediment stirred into a suspension can be sucked at the same time to avoid the re-deposition of the radioactive waste liquid sediment; further, in this embodiment, high-pressure water is used to impact the blades of the stirring wheel to drive the stirring wheel to rotate, without the need for a motor to drive the stirring wheel to rotate, thereby increasing the safety of the underwater operation equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Other objects and advantages of the present application will become apparent from the following description of the present application with reference to the accompanying drawings, which will help to provide a comprehensive understanding of the present application.

[0008] Figure 1 is a structural schematic diagram of a stirring and suction tool head according to an embodiment of the present application;

[0009] Figure 2 yes Figure 1 A schematic structural diagram of the tool head from another angle;

[0010] Figure 3 yes Figure 1 an exploded schematic diagram of the tool head shown;

[0011] Figure 4 yes Figure 1 a cross-sectional view of the tool head shown;

[0012] Figure 5 yes Figure 1 A front view of the mixing wheel shown;

[0013] Figure 6 yes Figure 5 a side view of the mixing wheel shown;

[0014] Figure 7 yes Figure 6 A cross-sectional view of the stirring wheel along the AA direction is shown;

[0015] Figure 8 is a schematic structural diagram of a mobile device according to an embodiment of the present application;

[0016] Figure 9 yes Figure 8 A schematic diagram of the structure of the movable device from another angle is shown, with some structures omitted in the figure;

[0017] Figure 10 yes Figure 8 A schematic structural diagram of the chassis assembly shown;

[0018] Figure 11 is a schematic structural diagram of a robotic arm according to an embodiment of the present application;

[0019] Figure 12 is a schematic structural diagram of a first connector according to an embodiment of the present application;

[0020] Figure 13 yes Figure 8 a bottom view of the movable device shown;

[0021] Figure 14 is a bottom view of a movable device according to another embodiment of the present application;

[0022] Figure 15 yes Figure 14 A schematic diagram of the structure of the protective cover shown; and

[0023] Figure 16 yes Figure 14 Schematic diagram of the structure of the filter cover shown.

[0024] It should be noted that the drawings are not necessarily drawn to scale, but are merely shown in a schematic manner that does not affect the reader's understanding.

[0025] Description of reference numerals:

[0026] 10. Tracks;

[0027] 13. Bottom plate; 131. Stirring hole;

[0028] 14. Side panels;

[0029] 151. Front plate; 152. Rear plate; 153. Anti-collision plate

[0030] 16. Driving wheel;

[0031] 17. Load-bearing wheels;

[0032] 18. Tensioner;

[0033] 19. Drive device

[0034] 21. Stirring motor;

[0035] 22. Main stirring wheel; 221. Main stirring wheel blade;

[0036] 23. Protective cover; 230. Through hole; 231. Liquid outlet;

[0037] 31. Suction pump;

[0038] 32. Suction port; 321. Pipeline; 322. Suction pipeline;

[0039] 33. Spraying unit;

[0040] 34, filter cover; 340, collection tank; 3410, filter hole; 341, cover plate; 3411, first bottom wall; 3412, second bottom wall; 342, connecting plate;

[0041] 40. Robotic arm; 41. Support; 42. First rotating portion; 43. Second rotating portion; 44. First arm; 45. Third rotating portion; 46. Second arm; 47. Third arm; 48. Fourth rotating portion; 49. Connecting portion;

[0042] 491, first connector; 4911, suction adapter; 4922, high-pressure water adapter; 4913, quick-release connector;

[0043] 50. Tool head;

[0044] 51. Main body; 511. Suction interface; 512. High-pressure water interface; 513. Quick-release interface; 514. Opening; 515. Channel; 516. High-pressure water pipe section; 5161. Liquid outlet;

[0045] 52, stirring wheel; 521, blade; 5211, first side edge; 5212, second side edge; 522, inner ring; 5220, shaft hole; 5221, curved section; 5222, straight pipe section; 5224, first end; 5225, second end;

[0046] 523, inner cover plate; 524, outer cover plate; 525, outer ring body; 526, liquid inlet port; 527, liquid outlet port;

[0047] 53. Hollow shaft;

[0048] 61. High-pressure water pipeline; 62. High-pressure water branch line. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of this application. Obviously, the described embodiment is only one embodiment of this application, not all embodiments. Based on the described embodiments of this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] like Figures 1 to 3As shown, an embodiment of the present application provides a stirring and suction tool head 50 (hereinafter referred to as tool head 50), i.e., a tool head 50 with stirring and suction functions. Tool head 50 can interface with suction line 322 and high-pressure water line 61 to achieve both suction and stirring functions. Tool head 50 can be installed on a mobile device used to clean radioactive waste sediment, thereby providing the mobile device with stirring and suction functions.

[0051] The tool head 50 may include a body 51 , a hollow shaft 53 and a stirring wheel 52 .

[0052] One side of the body 51 is provided with a suction port 511 and a high-pressure water port 512 for connecting to the suction line 322 and the high-pressure water line 61, respectively. When the tool head 50 is required for suction and agitation, the suction port 511 and the high-pressure water port 512 can be connected to the suction line 322 and the high-pressure water line 61, respectively. On the other side of the body 51 is an opening 514 communicating with the suction port 511 and a high-pressure water pipe section 516 communicating with the high-pressure water port 512. The sidewall of the high-pressure water pipe section 516 is provided with a liquid outlet 5161 for the outflow of high-pressure water. The opening 514 is used to accommodate the hollow shaft 53 and connect the hollow shaft 53 to the suction line 322.

[0053] like Figure 3 As shown, the hollow shaft 53 is inserted into the opening 514 and communicates with the suction port 511. When the suction port 511 is connected to the suction pipeline 322, the hollow shaft 53, the suction port 511, and the suction pipeline 322 form a channel 515 for radioactive waste liquid sediment to pass through. The radioactive waste liquid sediment can pass through the hollow shaft 53 into the suction port 511 and then into the suction pipeline 322 connected to the suction port 511.

[0054] The stirring wheel 52 is rotatably mounted on the hollow shaft 53. That is, the stirring wheel 52 is movably mounted on the hollow shaft 53. When an external force acts on the blades of the stirring wheel 52, the stirring wheel 52 can be driven to rotate relative to the hollow shaft 53. The stirring wheel 52 includes a plurality of blades 521 extending in a spiral shape. Figure 4 As shown, the liquid outlet 5161 of the high-pressure water pipe section 516 is positioned facing the blades 521 of the stirring wheel 52, so that the high-pressure water can drive the stirring wheel 52 to rotate. High-pressure water can flow out of the liquid outlet 5161 of the high-pressure water pipe section 516 and impact the blades 521 of the stirring wheel 52, thereby driving the stirring wheel 52 to rotate. The high-pressure water that impacts the blades 521 of the stirring wheel 52 can be ejected from the gaps between the blades 521 to impact the radioactive waste liquid and / or radioactive waste liquid sediment, thereby achieving the stirring function of the stirring wheel 52.

[0055] The interior of the hollow shaft 53 of the stirring and suction tool head 50 of the embodiment of the present application is connected to the suction interface 511, so that the middle part of the stirring and suction tool head 50 has a suction function. At the same time, the stirring wheel 52 is rotatably mounted on the hollow shaft 53, so that the stirring and suction tool head 50 has a stirring function. That is to say, the stirring and suction tool head 50 of the embodiment of the present application has both suction and stirring functions. In this way, when the stirring and suction tool head 50 is used to stir the radioactive waste liquid sediment, the radioactive waste liquid sediment stirred into a suspension can be sucked at the same time to avoid the re-deposition of the radioactive waste liquid sediment.

[0056] The embodiment of the present application utilizes high-pressure water to impact the blades 521 of the stirring wheel 52 to drive the stirring wheel 52 to rotate at high speed, so that the high-pressure water flows out at high speed from the gaps between the blades 521, thereby expanding the impact range of the high-pressure water. In addition, the high-pressure water flowing out from the gaps between the blades 521 can also drive the radioactive waste liquid to form a water flow stirring, thereby improving the stirring effect of the high-pressure water on the radioactive sediment on the one hand, and improving the suction effect of the hollow shaft 53 on the other hand.

[0057] like Figure 5 As shown, in some embodiments, the stirring wheel 52 further includes an outer cover plate 524 and an inner cover plate 523. The outer cover plate 524 and the inner cover plate 523 are located on both sides of the plurality of blades 521. Two adjacent blades 521, the inner cover plate 523, and the outer cover plate 524 collectively define a flow channel for fluid flow. The liquid outlet 5161 of the high-pressure water pipe section 516 is configured to allow high-pressure water flowing therefrom to enter the flow channel and drive the stirring wheel 52 to rotate.

[0058] In this embodiment, when high-pressure water impacts the blades 521, it drives the stirring wheel 52 to rotate. Furthermore, the multiple blades 521, the inner cover plate 523, and the outer cover plate 524 on the stirring wheel 52 form multiple flow channels. After the high-pressure water enters the multiple flow channels, it can be split into multiple streams and ejected, thereby expanding the stirring range of the stirring wheel 52 and improving the stirring effect of the stirring and suction tool head 50.

[0059] like Figure 6 and Figure 7As shown, in some embodiments, the stirring wheel 52 further includes an inner ring body 522 and an outer ring body 525. The inner ring body 522 has an internal shaft hole 5220 for engaging with the hollow shaft 53. The inner ring body 522 has a first end 5224 and a second end 5225 opposite each other. The outer ring body 525 is coaxially arranged with the inner ring body 522. The first end 5224 of the inner ring body 522 extends into the interior of the outer ring body 525, and the second end 5225 of the inner ring body 522 extends outward from the outer ring body 525. An outer cover plate 524 is connected to the end of the outer ring body 525 near the second end 5225 of the inner ring body 522. The outer cover plate 524 extends from the outer ring body 525 toward the second end 5225 of the inner ring body 522, and radially moves increasingly farther away from the inner ring body 522. The inner cover plate 523 is connected to the inner ring body 522 . The inner cover plate 523 extends from a circumferential surface close to the first end 5224 of the inner ring body 522 toward the second end 5225 of the inner ring body 522 and becomes increasingly farther away from the inner ring body 522 in the radial direction.

[0060] The blades 521 are spiral-shaped. Each blade 521 includes a first side edge 5211 in the width direction and a second side edge 5212 opposite the first side edge 5211. The first side edge 5211 is connected to the outer ring body 525 and the outer cover plate 524, and the second side edge 5212 is connected to the inner ring body 522 and the inner cover plate 523. The first side edge 5211 extends from the outer ring body 525 along the surface of the outer ring body 525 and the surface of the outer cover plate 524 to the outer peripheral edge of the outer cover plate 524, and the second side edge 5212 extends from the inner ring body 522 along the surface of the inner ring body 522 and the surface of the inner cover plate 523 to the outer peripheral edge of the inner cover plate 523. Two adjacent blades 521, the outer ring body 525, the inner ring body 522, the inner cover plate 523, and the outer cover plate 524 collectively define a flow channel. Two adjacent blades 521, the inner cover plate 523 and the outer cover plate 524 jointly define a liquid inlet port 526 connected to the flow channel; two adjacent blades 521, the inner ring body 522 and the outer ring body 525 jointly define a liquid outlet port 527 connected to the flow channel; the high-pressure water flowing out from the liquid outlet 5161 of the high-pressure water pipe section 516 enters the flow channel through the liquid inlet port 526 and flows out from the liquid outlet port 527.

[0061] In the embodiment of the present application, when the agitator wheel 52 is impacted by the high-pressure water and rotates at high speed, it can drive the high-pressure water into each flow channel through the liquid inlet port 526 of each flow channel and outward at high speed through the liquid outlet port 527 of each flow channel. Because the flow channel is generally spiral, the liquid can achieve the effect of hydraulic impact stirring when it flows outward at high speed from each liquid outlet port 527.

[0062] In the related art, blades 521 are typically not connected to the inner ring body 522 and / or the outer ring body 525, but are connected only to the inner cover plate 523 and the outer cover plate 524. By changing the connection relationship of blades 521 on the side of liquid outlet port 527 and modifying the shape of the side of liquid outlet port 527, the embodiment of the present application can reduce the loss of kinetic energy when high-pressure water drives the stirring wheel 52 to rotate and when the high-pressure water passes through the flow channel. This allows the high-pressure water to retain more kinetic energy to stir the radioactive waste liquid sediment, thereby improving the overall stirring effect of the stirring wheel 52 in the water.

[0063] In some embodiments, the outer cover plate 524 is an annular bevel. The inventors of the present application have discovered that, compared to an annular curved surface, an annular bevel is more conducive to increasing the flow velocity of the liquid in the flow channel, so that when the high-pressure water flows out of the liquid outlet port 527, it can fly outward at a greater linear velocity, thereby improving the hydraulic agitation effect.

[0064] In some embodiments, the inner ring body 522 includes a curved section 5221 and a straight pipe section 5222 connected to the curved section 5221, wherein the curved section 5221 extends from the first end 5224 of the inner ring body 522 toward the second end 5225, and radially moves farther and farther away from the axis of the inner ring body 522, and the main line of the curved section 5221 is a curve concave toward the axis of the inner ring body 522; the inner cover plate 523 is smoothly connected to the end of the curved section 5221 away from the first end 5224, and the second side edge 5212 of the blade 521 extends from the curved section 5221 along the surface of the curved section 5221 and the surface of the inner cover plate 523 to the outer periphery of the inner cover plate 523.

[0065] In this embodiment, by making the inner cover plate 523 and the end of the curved section 5221 away from the first end 5224 smoothly connected, the second side edge 5212 of the blade 521 extends from the curved section 5221 along the surface of the curved section 5221 and the surface of the inner cover plate 523 to the outer peripheral edge of the inner cover plate 523, and the shape of the liquid outlet port 527 side is improved, which can further increase the flow rate of the liquid at the liquid outlet port 527 side, thereby further improving the stirring effect of the stirring wheel 52.

[0066] In some embodiments, the inner cover plate 523 has a curved surface structure, and the generatrix of the curved surface structure is a curve that convexly extends toward the axis of the inner ring body 522. By configuring the generatrix of the curved surface structure to be a curve that convexly extends toward the axis of the inner ring body 522, the embodiment of the present application can reduce the flow resistance of the flow channel, thereby facilitating an increase in the flow rate of the liquid in the flow channel.

[0067] In some embodiments, a quick-release interface 513 is provided on the side of the body 51 facing away from the opening 514. The quick-release interface 513 facilitates installation and removal of the stirring and suction tool head 50. In some embodiments, the quick-release interface 513 is located at the center of the side of the body 51 of the stirring and suction tool head 50 facing away from the opening 514, which helps to increase the installation stability of the stirring and suction tool head 50.

[0068] In some embodiments, the opening 514 and the suction port 511 are staggered, and a channel 515 is provided inside the body 51 to connect the opening 514 and the suction port 511. With this arrangement, the opening 514 can be located at the center of the stirring and suction tool head 50.

[0069] In some embodiments, the outer periphery of the inner cover plate 523 has the same diameter as the outer periphery of the outer cover plate 524 and is coaxial with the inner ring body 522, so that each liquid inlet port 526 is substantially located on an annular surface coaxial with the inner ring body 522.

[0070] like Figure 8 、 Figure 9 and Figure 10 As shown, an embodiment of the present application also provides a movable device for cleaning radioactive waste liquid deposits, including a chassis assembly, a suction pipeline 322, a high-pressure water pipeline 61, a robotic arm 40, a first joint 491 and a stirring and suction tool head 50.

[0071] The chassis assembly is configured to enable travel within radioactive waste sediments. It includes a base plate 13, two end plates (front plate 151 and rear plate 152) located at opposite ends of the base plate 13, and two side plates 14 located on opposite sides of the base plate 13. The base plate 13, the two end plates, and the two side plates 14 collectively define a storage tank with an open top. The storage tank can be used to accommodate other components of the movable device. A bumper plate 153 is also provided on the front plate 151.

[0072] The suction line 322 is provided on the chassis assembly for sucking fluid. The high-pressure water line 61 is used to provide high-pressure fluid. The mechanical arm 40 is provided on the bottom plate 13, and the mechanical arm 40 is configured so that its end can extend outward from the top opening of the receiving tank.

[0073] like Figure 12As shown, a first connector 491 is provided at the end of the robotic arm 40. The first connector 491 includes a suction adapter 4911 for communicating with the suction line 322 and a high-pressure water adapter 4922 for communicating with the high-pressure water line 61. The stirring and suction tool head 50 is connected to the first connector 491. The suction interface 511 of the tool head 50 interfaces with the suction adapter 4911 of the first connector 491, and the high-pressure water interface 512 of the tool head 50 interfaces with the high-pressure water adapter 4922 of the first connector 491. In this embodiment, the stirring and suction tool head 50 is mounted on the movable robotic arm 40 via the first connector 491. The robotic arm 40 can drive the stirring and suction tool head 50 to move, thereby performing stirring and suction at different angles and positions.

[0074] In some embodiments, as Figure 8 and Figure 9 As shown, the movable device further includes two sets of walking devices, which are symmetrically arranged on the two side plates 14, and the two sets of walking devices are configured to be able to walk in the radioactive waste liquid sediment.

[0075] Each set of walking devices includes: at least one driving wheel 16, multiple load-bearing wheels 17 and a crawler track 10. The driving wheel 16 is arranged on the side plate 14. Multiple load-bearing wheels 17 are respectively arranged on the lower part of the side plate 14. The crawler track 10 is sleeved on the outside of at least one driving wheel 16 and multiple load-bearing wheels 17. The driving device 19 is arranged on the bottom plate 13, and is used to drive the driving wheels 16 of the two sets of walking devices to rotate. The side plate 14 is an inverted trapezoidal shape as a whole, the load-bearing wheels 17 are arranged at the lower part of the side plate 14, and the driving wheels 16 are arranged at the front and rear ends of the side plate 14. Each set of walking devices can also include multiple tensioning wheels 18, which are arranged on the upper part of the side plate 14 to tension the crawler track 10.

[0076] In some embodiments, the robotic arm 40 is disposed at the front end of the chassis body. The robotic arm 40 may be a multi-degree-of-freedom robotic arm 40 having multiple joints to adjust the position and angle of the stirring and suction tool head 50.

[0077] In some embodiments, the robotic arm 40 can be retracted into the chassis body through cooperation between joints to reduce the volume of the movable device and facilitate the delivery and transportation of the movable device.

[0078] In some embodiments, as Figure 11As shown, the robotic arm 40 includes: a vertically extending support 41; a first rotating portion 42 rotatably connected to the support 41 along the axial direction of the support 41; a second rotating portion 43 rotatably connected to the first rotating portion 42 along the radial direction of the first rotating portion 42; a first arm 44 connected to the second rotating portion 43 along the radial direction of the second rotating portion 43; a third rotating portion 45 rotatably connected to the first arm 44 along the axial direction of the first arm 44; a second arm 46 connected to the third rotating portion 45 along the axial direction of the third rotating portion 45; a third arm 47 connected to the second arm 46 along the radial direction of the second arm 46; and a fourth rotating portion 48 connected to the third arm 47 along the axial direction of the third arm 47. The fourth rotating portion 48 is configured to drive a connecting portion 49 to rotate. The connecting portion 49 may be the end of the robotic arm 40. The robotic arm 40 having the above structure can extend outward from the two side panels 14 and the front panel 151.

[0079] The support 41 can be provided on the base plate 13 to secure the chassis assembly to the robotic arm 40. A first connector 491 can be provided on the connecting portion 49. The first connector 491 can be a quick-connect connector to facilitate installation and removal of the stirring and suction tool head 50. The first connector 491 can have a quick-release interface 4913, which can also be provided with an electrical control port for electrical control.

[0080] In some embodiments, as Figure 13 As shown, the movable device further comprises a stirring device and a suction port 32 .

[0081] The stirring device is mounted on the chassis assembly and includes a main stirring wheel 22 disposed below the base plate 13, a drive unit disposed above the base plate 13, and a drive shaft connected to the drive unit. The drive shaft extends downward from the base plate 13 through a stirring hole 131 disposed on the base plate 13, cooperating with the main stirring wheel 22 to drive the main stirring wheel 22 to rotate. The main stirring wheel 22 is capable of stirring the radioactive waste liquid sediment to form a suspension.

[0082] The suction port 32 is provided on the bottom plate 13 , and the suction port 32 is connected to a suction pipeline 322 through a pipeline 321 to provide negative pressure to the suction port 32 .

[0083] In this embodiment, the main stirring wheel 22 is arranged below the bottom plate 13, which is beneficial to improving the stirring effect of the radioactive waste liquid sediment. The radioactive waste liquid sediment at the bottom of the movable device is stirred to the suction port 32 through the stirring device, which is beneficial to the suction port 32 to suck the radioactive waste liquid sediment.

[0084] In some embodiments, there are two main stirring wheels 22, which are disposed below the bottom plate 13 along the width direction of the bottom plate 13. The suction port 32 is located on one side of the two main stirring wheels 22 along the length direction of the bottom plate 13. It is easy to understand that the length direction of the bottom plate 13 is consistent with the travel direction of the movable device.

[0085] like Figure 13 As shown by the middle arrows, the two main stirring wheels 22 are configured to rotate relative to each other to drive the suspension to flow through the gap between the two main stirring wheels 22 to the side where the suction port 32 is located.

[0086] In the related art, usually only one main stirring wheel 22 is provided on the bottom plate 13. When the main stirring wheel 22 rotates, it drives the water flow to form hydraulic stirring, stirring the radioactive bottom mud (i.e., radioactive waste liquid sediment) to form a suspension (i.e., mud). Under the action of the hydraulic stirring of the main stirring wheel 22, the mud flows radially in all directions, resulting in a lower liquid level flowing to the suction port 32 located near the main stirring wheel 22, and the total amount of mud sucked by the suction port 32 is reduced, resulting in slow suction. The embodiment of the present application particularly provides two main stirring wheels 22 on the bottom plate 13 along the width direction of the bottom plate 13. When the two main stirring wheels 22 rotate relative to each other, more mud will be driven to flow along the gap between the two main stirring wheels 22 toward the suction port 32 located on one side of the two main stirring wheels 22, so that the total amount of mud near the suction port 32 is greatly increased, thereby improving the suction effect.

[0087] In some embodiments, the movable device further includes two stirring motors 21 , each configured to drive a main stirring wheel 22 . The stirring motors 21 may be disposed above the bottom plate 13 .

[0088] See also Figure 14 and Figure 15 The movable device further includes a protective cover 23 disposed below the bottom plate 13. The protective cover 23 covers the outer sides of the two main stirring wheels 22 and has a plurality of through holes 230 for passage of slurry. The protective cover 23 protects the main stirring wheel blades 221 of the main stirring wheel 22 from wear.

[0089] A liquid outlet 231 is provided on the side of the protective cover 23 facing the suction port 32. When the two main stirring wheels 22 rotate relative to each other, a large amount of mud is driven to flow along the gap between the two main stirring wheels 22 toward the suction port 32 located on one side of the two main stirring wheels 22. The presence of the liquid outlet 231 allows the protective cover 23 to protect the main stirring wheel blades 221 while not hindering the mud from flowing toward the suction port 32.

[0090] The protective cover 23 may include a rectangular cover plate 341 and a connecting plate 342 extending from the periphery of the cover plate 341 toward the bottom plate 13. The liquid outlet 231 is formed on the connecting plate 342 facing the suction port 32. The through holes 230 are evenly distributed on the cover plate 341 and the connecting plate 342.

[0091] In some embodiments, as Figure 14 and Figure 16 As shown, the movable device further includes a filter cover 34 disposed below the base plate 13. The filter cover 34 is positioned outside the suction port 32 and is provided with a plurality of filter holes 3410 for passage of slurry. The filter cover 34 filters out larger particles, preventing them from adversely affecting the suction pump 31 or blocking the pipeline. The filter holes 3410 in the filter cover 34 can have the same shape and size as the through holes 230 in the protective cover 23.

[0092] like Figure 16 As shown, a collecting groove 340 with an opening is formed on the side of the filter cover 34 facing the two stirring wheels 52, which is used to collect mud from the gap between the two stirring wheels 52. Due to the presence of the collecting groove 340, the filter cover 34 can not only filter but also collect mud, so that a large amount of mud can be collected in the filter cover 34, thereby improving the suction efficiency of the suction port 32.

[0093] like Figure 16 As shown, the filter cover 34 includes a cover plate 341 and a connecting plate 342 extending from the periphery of the cover plate 341 toward the bottom plate 13. The connecting plate 342 connects the cover plate 341 to the bottom plate 13. The top end of the connecting plate 342 (i.e., the end facing the bottom plate 13) is formed into a flange and connected to the bottom plate 13 by fasteners.

[0094] The cover plate 341, the connecting plate 342 and the bottom plate 13 together form a filter cavity. The suction port 32 is located inside the filter cavity.

[0095] The cover plate 341 is recessed inward (i.e., recessed toward the bottom plate 13) to form a collecting groove 340, which is connected to the filter chamber through the filter hole 3410. The collecting groove 340 forms the aforementioned opening on the side facing the two stirring wheels 52, which is used to collect the mud from the gap between the two stirring wheels 52.

[0096] In some embodiments, the bottom wall of the collection trough 340 includes a first bottom wall 3411 and a second bottom wall 3412. The first bottom wall 3411 is parallel to the bottom plate 13, and the second bottom wall 3412 extends upward at an angle from the side of the first bottom wall 3411 facing the main agitator wheel 22 until it is flush with the top of the connecting plate 342. The side of the second bottom wall 3412 away from the first bottom wall 3411 forms an opening of the collection trough 340 facing the main agitator wheel 22. Because the second bottom wall 3412 extends upward at an angle, as the mud flows toward the collection trough 340, it can gradually enter the filter cavity through the filter holes 3410 during the flow, reducing the resistance to the continued flow of the mud and minimizing the return flow of the mud.

[0097] In some embodiments, the filter holes 3410 of the filter cover 34 are provided only on the bottom wall of the collection trough 340 and the cover plate 341 surrounding the collection trough 340. That is, the connecting plate 342 of the filter cover 34 and the sidewalls of the collection trough 340 are both closed and do not have filter holes 3410. Slurry from the side of the agitator wheel 52, after entering the filter chamber through the collection trough 340, will not flow outward through the connecting plate 342 of the filter cover 34 and the sidewalls of the collection trough 340, thereby further ensuring that the slurry entering the filter chamber can be sucked out.

[0098] In some embodiments, the periphery of the first bottom wall 3411 includes a first straight segment connected to the second bottom wall 3412 and outwardly protruding arc segments connected to both ends of the first straight segment. The design of the arc segments can smoothly hinder the flow of mud and avoid causing turbulence in the mud.

[0099] In some embodiments, the second bottom wall 3412 includes a rectangular surface connected to the first bottom wall 3411 and a trapezoidal extension surface connected to the rectangular surface, so that the width of the collection groove 340 is narrowed inward from the opening to produce the effect of gathering mud.

[0100] The width of the opening of the collecting tank 340 may be greater than the width of the liquid outlet 231 of the protective cover 23 , so that as much slurry as possible flowing out of the liquid outlet 231 can enter the collecting tank 340 .

[0101] like Figure 9 and Figure 13 As shown, the mobile device also includes a spray unit 33 and a high-pressure water branch 62. The spray unit 33 is disposed within the filter housing 34 and is used to spray and remove contaminants from the filter housing 34. The high-pressure water branch 62 is connected to the spray unit 33 and is used to provide high-pressure water to the spray unit 33. The high-pressure water branch 62 can be controlledly connected to the high-pressure water pipeline 61 via a valve.

[0102] The circumference of the spray portion 33 is evenly covered with spray holes, so that the filter cover 34 can be fully sprayed. Since the collection tank 340 is formed by indenting the cover plate 341, the spray portion 33 can also directly flush the bottom wall of the collection tank 340.

[0103] Regarding the embodiments of the present invention, it should also be noted that, in the absence of conflict, the embodiments of the present invention and the features therein may be combined with each other to obtain new embodiments.

[0104] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A stirring and suction tool head, comprising: A body, one side of the body being provided with a suction interface and a high-pressure water interface for connecting to a suction pipeline and a high-pressure water pipeline, respectively; the other side of the body being provided with an opening communicating with the suction interface and a high-pressure water pipe section communicating with the high-pressure water interface; a side wall of the high-pressure water pipe section being provided with a liquid outlet for the outflow of high-pressure water; a hollow shaft, inserted into the opening and connected to the suction port; and a stirring wheel rotatably sleeved on the hollow shaft, the stirring wheel comprising a plurality of blades extending in a spiral shape; The liquid outlet of the high-pressure water pipe section is arranged facing the blades of the stirring wheel, so that the high-pressure water drives the stirring wheel to rotate; The mixing wheel further comprises: an outer cover plate and an inner cover plate located on both sides of the plurality of blades, wherein two adjacent blades, the inner cover plate and the outer cover plate jointly define a flow channel for the fluid to flow; The liquid outlet of the high-pressure water pipe section is configured to allow the high-pressure water flowing therefrom to enter the flow channel and drive the stirring wheel to rotate; The stirring wheel also includes: An inner ring body, wherein an axial hole is formed inside thereof for cooperating with the hollow shaft, and the inner ring body has a first end and a second end opposite to each other; An outer ring body is coaxially arranged with the inner ring body, wherein a first end of the inner ring body extends into the interior of the outer ring body, and a second end of the inner ring body extends outward from the outer ring body; The outer cover plate is connected to the end of the outer ring body close to the second end of the inner ring body, and the outer cover plate extends from the outer ring body toward the second end of the inner ring body and becomes increasingly farther away from the inner ring body in the radial direction; The inner cover plate is connected to the inner ring body, and the inner cover plate extends from a circumferential surface close to the first end of the inner ring body toward the second end of the inner ring body, and becomes increasingly farther away from the inner ring body in the radial direction; Each of the blades includes a first side edge in the width direction and a second side edge opposite to the first side edge, the first side edge is connected to the outer ring body and the outer cover plate, and the second side edge is connected to the inner ring body and the inner cover plate.

2. The tool head according to claim 1, wherein The first side edge extends from the outer ring body along the surface of the outer ring body and the surface of the outer cover plate to the outer peripheral edge of the outer cover plate, and the second side edge extends from the inner ring body along the surface of the inner ring body and the surface of the inner cover plate to the outer peripheral edge of the inner cover plate. Two adjacent blades, the outer ring body, the inner ring body, the inner cover plate and the outer cover plate jointly define the flow channel; Wherein, two adjacent blades, the inner cover plate and the outer cover plate jointly define a liquid inlet port connected to the flow channel; two adjacent blades, the inner ring body and the outer ring body jointly define a liquid outlet port connected to the flow channel; The high-pressure water flowing out of the liquid outlet of the high-pressure water pipe section enters the flow channel through the liquid inlet port and flows out from the liquid outlet port.

3. The tool head according to claim 1, wherein The outer cover plate is an annular inclined surface.

4. The tool head according to claim 1 or 2, wherein: The inner ring body includes a curved surface segment and a straight pipe segment connected to the curved surface segment, wherein the curved surface segment extends from the first end of the inner ring body toward the second end and becomes increasingly farther away from the axis of the inner ring body in the radial direction, and a generatrix of the curved surface segment is a curve concave toward the axis of the inner ring body; The inner cover plate is smoothly connected to the end of the curved segment away from the first end, and the second side edge of the blade extends from the curved segment along the surface of the curved segment and the surface of the inner cover plate to the outer periphery of the inner cover plate.

5. The tool head according to claim 4, wherein: The inner cover plate is a curved surface structure, and the generatrix of the curved surface structure is a curve convex outward toward the axis of the inner ring body.

6. The tool head according to claim 1, wherein The opening and the suction interface are staggered with each other, and a channel is provided inside the body to connect the opening and the suction interface.

7. The tool head according to claim 1, wherein: A quick-release interface is provided on a side of the body facing away from the opening.

8. A movable device for cleaning radioactive waste liquid sediments, comprising: A chassis assembly configured to be capable of traveling in a radioactive waste liquid sediment, the chassis assembly comprising a bottom plate, two end plates located at opposite ends of the bottom plate, and two side plates located at opposite sides of the bottom plate, the bottom plate, the two end plates, and the two side plates jointly defining a receiving tank with an open top; a suction pipeline, provided on the chassis assembly, for sucking fluid; High-pressure water pipeline, used to provide high-pressure fluid; a robotic arm disposed on the bottom plate, wherein the robotic arm is configured to extend its distal end outward from the top opening of the receiving tank; A first joint is provided at the end of the robotic arm, the first joint comprising: a suction adapter for communicating with the suction pipeline and a high-pressure water adapter for communicating with the high-pressure water pipeline; and The stirring and suction tool head according to any one of claims 1 to 7, wherein the tool head is connected to the first joint, The suction interface of the tool head is connected to the suction adapter of the first joint, and the high-pressure water interface of the tool head is connected to the high-pressure water adapter of the first joint.

9. The mobile device according to claim 8, further comprising: A stirring device is provided on the chassis assembly, and the stirring device includes a main stirring wheel provided below the bottom plate, a driving portion provided above the bottom plate, and a driving shaft connected to the driving portion, wherein the driving shaft extends downward from the bottom plate and cooperates with the main stirring wheel. A suction port is provided on the bottom plate, and the suction port is communicated with the suction pipeline through a pipeline.

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