Movable apparatus for cleaning radioactive waste sediment and drive wheel thereof

Abstract

The embodiment of the present application relates to the technical field of radioactive material processing, in particular to a movable device for cleaning radioactive waste liquid deposits and a driving wheel thereof.The driving wheel comprises a driving body, a plurality of wheel teeth extending radially outward from the driving body, and a driving outer plate and a driving inner plate respectively arranged on the two axial sides of the driving body, wherein the outer diameters of the driving outer plate and the driving inner plate are the same, both are greater than the outer diameter of the driving body and less than the outer diameter of the wheel teeth, and the driving outer plate, the driving inner plate, the driving body and the two adjacent wheel teeth jointly form a groove.The driving wheel of the embodiment of the present application has substantially no dead angle, thus being beneficial to cleaning the radioactive material remaining on the driving wheel after cleaning the radioactive deposits.

Description

Technical Field

[0001] This invention relates to the field of radioactive material treatment technology, and in particular to a mobile device for cleaning radioactive waste liquid deposits and its drive wheels. Background Technology

[0002] Currently, tracked mobile equipment is typically used to retrieve radioactive waste liquid sediments from storage tanks. During the retrieval process, some radioactive material remains on the mobile equipment, which needs to be rinsed after retrieval to remove the residue. However, the existing drive wheel structure often has many blind spots, making it difficult to thoroughly clean the drive wheels of the tracked mobile equipment after retrieval. Summary of the Invention

[0003] To address the aforementioned technical problems, the first aspect of this application provides a tracked drive wheel for a mobile device used for cleaning radioactive waste liquid deposits, which can be easily cleaned. The second aspect of this application also provides a mobile device with the drive wheel for cleaning radioactive waste liquid deposits.

[0004] According to a first aspect of this application, embodiments of this application provide a tracked drive wheel for a mobile device used to clean up radioactive waste liquid deposits, the drive wheel comprising:

[0005] Drive body;

[0006] Multiple gear teeth extending radially outward from the drive body; and

[0007] The outer drive plate and the inner drive plate are respectively disposed on both sides of the drive body along the axial direction.

[0008] The outer drive plate and the inner drive plate have the same outer diameter, which is larger than the outer diameter of the drive body and smaller than the outer diameter of the gear teeth. The outer drive plate, the inner drive plate, the drive body, and two adjacent gear teeth together form a groove.

[0009] According to a second aspect of this application, embodiments of this application provide a mobile device for cleaning up radioactive waste liquid deposits, comprising:

[0010] The chassis body includes a base plate and two side plates respectively disposed on both sides of the base plate along its width direction; and

[0011] Two sets of walking devices are symmetrically arranged on the two side plates and configured to move within the radioactive waste sediment, wherein each set of walking devices includes:

[0012] At least one drive wheel according to the first aspect of this application;

[0013] Multiple load-bearing wheels are respectively disposed on the lower part of the side plate; and

[0014] The track is fitted over the at least one drive wheel and the plurality of load-bearing wheels. The track is composed of interconnected links. Each link includes a first link and a second link. The first link is used to mesh with the wheel teeth, and the second link is used to engage with two adjacent first links.

[0015] When the first chain link meshes with the gear teeth, a portion of the second chain link is located in the groove, and the first chain link is tangent to the drive outer plate and the drive inner plate.

[0016] The drive wheels in this embodiment have virtually no blind spots, which makes it easier to clean the radioactive material remaining on the drive wheels after cleaning radioactive deposits. Attached Figure Description

[0017] Other objects and advantages of the invention will become apparent from the following description of the invention with reference to the accompanying drawings, and will help to provide a comprehensive understanding of the invention.

[0018] Figure 1 This is a partial structural schematic diagram of a track according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of a drive wheel according to an embodiment of the present invention;

[0020] Figure 3 and Figure 4 They are Figure 2 An exploded view of the drive wheel shown;

[0021] Figure 5 This is a schematic diagram of the structure of a mobile device according to an embodiment of the present invention;

[0022] Figure 6 yes Figure 5 The diagram shows the structural structure of the chassis.

[0023] Figure 7 yes Figure 5 The diagram shows the structure of the drive device.

[0024] Figure 8 yes Figure 5 The diagram shows the structure of the load-bearing wheel;

[0025] Figure 9 yes Figure 5 The diagram shows the structure of the tensioning wheel;

[0026] Figure 10 yes Figure 5 Side view of the movable device shown;

[0027] Figure 11 and Figure 12 They are Figure 10 A magnified view of a portion of the mobile device shown;

[0028] Figure 13 yes Figure 5 A bottom view of the movable device shown;

[0029] Figure 14 This is a bottom view of a mobile device according to another embodiment of the present invention;

[0030] Figure 15 yes Figure 14 The diagram shows the structure of the protective cover; and

[0031] Figure 16 yes Figure 14 The diagram shows the structure of the filter cover.

[0032] It should be noted that the accompanying drawings are not necessarily drawn to scale, but are shown only in a schematic manner without affecting the reader's understanding.

[0033] Explanation of reference numerals in the attached figures:

[0034] 10. Tracks;

[0035] 11. First link; 111. Spacer plate;

[0036] 12. Second link; 121. Walking plate;

[0037] 13. Base plate;

[0038] 14. Side plate; 140. Plate body; 141. End protrusion section; 1411. Drive hole; 142. Middle protrusion section; 1421. Tensioning hole;

[0039] 151. End plate; 152. End plate; 153. Anti-collision plate;

[0040] 16. Drive wheel; 160. Groove; 161. Drive body; 1611. Recess; 162. Drive outer plate; 1621. Protrusion; 163. Drive inner plate; 1631. Protrusion; 1632. Groove; 164. Gear tooth;

[0041] 17. Load-bearing wheel; 170. Annular groove; 171. Load-bearing outer plate; 172. Load-bearing inner plate; 173. Load-bearing body;

[0042] 18. Tensioning wheel; 180. Groove; 181. Outer plate; 182. Inner plate; 183. Tensioning body;

[0043] 19. Drive mechanism; 191. Annular protrusion;

[0044] 21. Agitator motor;

[0045] 22. Agitator wheel; 221. Blades;

[0046] 23. Protective cover; 230. Opening; 231. Liquid outlet;

[0047] 31. Suction pump;

[0048] 32. Suction port;

[0049] 33. Sprayer section;

[0050] 34. Filter cover; 340. Collection tank; 3410. Filter hole; 341. Cover plate; 3411. First bottom wall; 3412. Second bottom wall; 342. Connecting plate;

[0051] 40. Robotic arm. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of this invention. Obviously, the described embodiments are one embodiment of this invention, and not all embodiments. Based on the described embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0053] It should be noted that, unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0054] In the description of the embodiments of the present invention, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0055] This application provides a track for a mobile device used to clean up radioactive waste liquid deposits.

[0056] See Figure 1 The track 10 provided in this embodiment is composed of interconnected links. Each link includes a first link 11, a second link 12, and a running plate 121.

[0057] The first link 11 is used to mesh with the teeth of the drive wheel of the mobile device. The second link 12 is used to engage with two adjacent first links 11. The travel plate 121 is disposed on the surface of the second link 12 away from the drive wheel and is used to contact the travel surface of the mobile device.

[0058] The track 10 in this embodiment is a chain-link track with first link 11 and second link 12 interlocked. Since there are virtually no dead angles between the first link 11 and the second link 12, the track 10 is easier to clean. Furthermore, this application provides a walking plate 121 on the second link 12. Compared to the second link 12, the walking plate 121 increases the contact area between the track 10 and the walking surface, thereby increasing the stability and friction of the track 10, ensuring that the mobile device can move normally inside the storage tank, and simultaneously cleaning away radioactive material remaining on the track 10 after cleaning radioactive deposits.

[0059] The width of the walking plate 121 can be substantially the same as the width of the second link 12, thereby further increasing the contact area and improving the stability and friction of the track 10. It is easy to understand that "substantially the same" here means that the difference between the two does not exceed 10% of the width of the second link 12.

[0060] Because storage tanks for radioactive waste are typically used for extended periods and are subject to damage from radioactive radiation, in some embodiments, to prevent damage to the tank's bottom wall and to avoid leakage of radioactive waste, each link further includes a rubber layer disposed on the outer surface of the traveling plate 121 opposite to the second link 12. The rubber layer further increases friction while also preventing scratches on the tank's bottom wall.

[0061] In some embodiments, each link includes a spacer 111 extending from the side surface of the first link 11 opposite to the drive wheel in a direction away from the drive wheel, wherein the spacer 111 is located between the second links 12 of two adjacent links and is used to prevent the two adjacent second links 12 from getting close to each other.

[0062] It is easy to understand that the presence of the spacer 111 can prevent two adjacent second chain links 12 from moving towards each other, thereby helping to prevent the track 10 from becoming too slack. In particular, for those walking plates 121 that are in contact with the walking surface, it helps two adjacent walking plates 121 to remain parallel and not tilt, thereby keeping the track 10 in a parallel and taut state.

[0063] In some embodiments, the side face of the spacer 111 facing the drive wheel is recessed in a direction away from the drive wheel to form a groove, which together with the first chain link 11 forms a meshing groove for engaging with the teeth of the drive wheel. This helps to maintain a relatively uniform tension throughout the track 10. When the first chain link 11' engages with the teeth located directly above the drive wheel 16, it prevents the other first chain link 11" engaging with the teeth located below the drive wheel 16 from disengaging from the teeth of the drive wheel 16 due to excessive slack (see...). Figure 11 ).

[0064] In some embodiments, when the first links 11 in two adjacent links are in the same plane, the spacer 111 in the two links and the traveling plate 121 between the two spacer 111 are perpendicular to each other. This arrangement ensures that when the traveling plate 121 contacts the traveling surface, the two adjacent first links 11 are parallel and do not tilt, allowing the track 10 to remain taut.

[0065] In some embodiments, the length of the travel plate 121 may be less than the length of the second link 12, and the travel plate 121 is welded to the middle of the side surface of the second link 12 facing away from the drive wheel 16 along the length direction. See also Figure 11 This arrangement ensures sufficient space between adjacent walking plates 121' and spacer plates 111', preventing the second chain link 12' from tilting due to the contact between the walking plates 121' and spacer plates 111', thus making it easier for the track 10 to disengage from the wheel teeth.

[0066] In some embodiments, the first link 11 and the second link 12 have the same link structure, both being closed rings. The cross-section of the link can be circular. The link can be formed by bending and welding a metal rod together.

[0067] In relation to the track 10 of this application embodiment, this invention also provides a track drive wheel for use in conjunction with the track 10.

[0068] See Figures 2 to 4 The drive wheel 16 of this embodiment includes: a drive body 161, a plurality of gear teeth 164, a drive outer plate 162, and a drive inner plate 163. The plurality of gear teeth 164 extend radially outward from the drive body 161. The drive outer plate 162 and the drive inner plate 163 are respectively disposed on both axial sides of the drive body 161. The outer diameter of the drive outer plate 162 and the drive inner plate 163 is the same, both larger than the outer diameter of the drive body 161 and smaller than the outer diameter of the gear teeth 164. The drive outer plate 162, the drive inner plate 163, the drive body 161, and two adjacent gear teeth 164 together form a groove 160.

[0069] The drive wheel 16 in this embodiment of the application has virtually no blind spots, which is beneficial for cleaning the radioactive material remaining on the drive wheel 16 after cleaning radioactive deposits.

[0070] When the drive wheel 16 is used in conjunction with the track 10, the first chain link 11 meshes with the wheel tooth 164, a portion of the second chain link 12 is located in the groove 160, and the first chain link 11 is tangent to the drive outer plate 162 and the drive inner plate 163.

[0071] In this embodiment, the drive wheel 16 adopts a three-layer structure of drive body 161, drive outer plate 162 and drive inner plate 163. The drive outer plate 162 and drive inner plate 163 are always tangent to the first chain link 11 in the horizontal direction, while the wheel tooth 164 located in the middle is inserted into the first chain link 11, which plays the role of limiting and transmitting rotational driving force.

[0072] Therefore, the drive wheel 16 of this application embodiment is particularly suitable for use with the track 10 of this application embodiment. The drive wheel 16 can not only transmit driving force, but also help to clean radioactive materials.

[0073] In some embodiments, the drive body 161 has recesses 1611 on both axial sides, and the drive outer plate 162 and drive inner plate 163 have protrusions 1621 and 1631 on the sides facing the drive body 161, respectively. The protrusions 1621 and 1631 are respectively inserted into the recesses 1611 on both sides, and the drive body 161, drive outer plate 162, and drive inner plate 163 are connected as a whole by fasteners passing through the protrusions 1621, 1631, and recesses 1611. In this embodiment, the drive body 161, drive outer plate 162, and drive inner plate 163 are connected as a whole by fasteners passing through the protrusions 1621, 1631, and recesses 1611, which further makes the structure of the drive wheel 16 basically without dead corners, which can prevent solid radioactive materials from entering the drive wheel 16, and further facilitates the cleaning of radioactive materials remaining on the drive wheel 16 after cleaning radioactive deposits.

[0074] In some embodiments, see Figure 7 The drive device 19 for driving the drive wheel 16 to rotate includes a housing and an annular protrusion 191 rotatably connected to one end of the housing. A groove 1632 is provided on the side of the drive inner plate 163 facing away from the drive body 161 for insertion into the annular protrusion 191 of the drive device 19. The drive wheel 16 is connected to the annular protrusion 191 by fasteners passing through the annular protrusion 191 and the groove 1632 of the drive inner plate 163. This design ensures that the connection structure between the drive wheel 16 and the drive device 19 has virtually no dead angles, preventing solid radioactive materials from entering the drive wheel 16 and the drive device 19, and facilitating the cleaning of residual radioactive materials on the drive wheel 16 and the drive device 19 after cleaning radioactive deposits.

[0075] This application also provides a mobile device for cleaning up radioactive waste liquid deposits.

[0076] See Figure 5 and Figure 6The mobile device may include a chassis body and two sets of walking devices. The chassis body includes a base plate 13 and two side plates 14 located on opposite sides of the base plate 13. The two sets of walking devices are symmetrically arranged on the two side plates 14 and configured to move through radioactive waste sediment.

[0077] Each set of walking devices includes: at least one drive wheel 16 of any embodiment of the present application, a plurality of load-bearing wheels 17, and a track 10 of any embodiment of the present application.

[0078] A drive wheel 16 is disposed on a side plate 14. A plurality of load-bearing wheels 17 are disposed on the lower part of the side plate 14. A track 10 is fitted over at least one drive wheel 16 and the plurality of load-bearing wheels 17. When the first chain link 11 engages with the wheel teeth, a portion of the second chain link 12 is located in a groove, and the first chain link 11 is tangent to the drive outer plate 162 and the drive inner plate 163.

[0079] Each set of walking devices also includes: at least one drive unit 19, which is disposed on the chassis body, and each drive unit 19 is used to drive a drive wheel 16 to rotate.

[0080] The chassis body also includes end plates 151 and 152 respectively disposed on both sides of the base plate 13 along its length. It is easy to understand that the width direction of the base plate 13 is the horizontal direction perpendicular to the travel direction of the mobile device. The length direction of the base plate 13 is consistent with the travel direction of the mobile device.

[0081] The base plate 13, two side plates 14, end plates 151 and 152 together define the accommodating space of the chassis body. Anti-collision plates 153 can be installed on end plates 151 and 152. A drive unit 19 is installed within the accommodating space of the chassis body. A drive hole 1411 is formed on the side plate 14, and the drive unit 19 extends into the drive hole 1411 to connect with the drive wheel 16.

[0082] The drive device 19 includes a housing and an annular protrusion 191 disposed at one end of the housing and rotatably connected to the housing. The groove 1632 on the side of the drive inner plate 163 facing the annular protrusion 191 is inserted into the annular protrusion 191. The drive wheel 16 is connected to the annular protrusion 191 as a whole by fasteners passing through the groove 1632 of the drive inner plate 163 and the annular protrusion 191.

[0083] The load-bearing wheel 17 is disposed at the lower part of the side plate 14. In some embodiments, the radial end face of the load-bearing wheel is recessed inward to form an annular groove 170, a portion of the second chain link 12 is located in the annular groove 170, and the first chain link 11 is tangent to the groove wall of the annular groove 170.

[0084] See Figure 8The load-bearing wheel 17 includes: a load-bearing body 173, a load-bearing outer plate 171 and a load-bearing inner plate 172 respectively disposed on both sides of the load-bearing body along the axial direction. The outer and inner load-bearing plates have the same outer diameter, which is larger than the outer diameter of the load-bearing body. The outer load-bearing plate, the inner load-bearing plate and the load-bearing body together form an annular groove 170.

[0085] See Figure 10 and Figure 12 The weight of the vehicle body carried by the load-bearing wheel 17 is transferred to the first chain link 11 through the load-bearing outer plate 171 and the load-bearing inner plate 172, and then transferred to the ground through the walking plate 121. The structure of the drive wheel 16 and the load-bearing wheel 17 ensures the load-bearing capacity of the track 10 and the continuity and smoothness of its operation. Therefore, the load-bearing wheel 17 of this embodiment is particularly suitable for use with the track 10 of this embodiment, and also facilitates the cleaning of radioactive materials.

[0086] Each set of walking devices may also include multiple tensioning rollers 18 for tensioning the tracks 10. The radial end face of the tensioning roller 18 is recessed inward to form an annular groove 180, a portion of the second chain link 12 is located in the annular groove 180, and the first chain link 11 is tangent to the groove wall of the annular groove 180. The tensioning roller 18 may be located on the upper part of the side plate 14.

[0087] See Figure 9 The tensioning wheel 18 includes a tensioning body 183, an outer tensioning plate 181 and an inner tensioning plate 182 respectively disposed on both axial sides of the tensioning body 183. The outer tensioning plate 181 and the inner tensioning plate 182 have the same outer diameter, both larger than the outer diameter of the tensioning body 183. The outer tensioning plate 181, the inner tensioning plate 182, and the tensioning body 183 together form an annular groove. The tensioning wheel 18 of this embodiment is particularly suitable for use with the track 10 of this embodiment, and also facilitates the cleaning of radioactive materials.

[0088] See Figure 6 The side plate 14 includes a plate body 140 and two end protrusions 141 and at least one intermediate protrusion 142 protruding upward from the plate body 140. The two end protrusions 141 are located at both ends of the plate body 140, and the intermediate protrusion 142 is located between the two end protrusions 141. The end protrusions 141 are provided with drive holes 1411 for mounting drive wheels 16; the intermediate protrusions 142 are provided with tension holes 1421 for mounting tension wheels 18. Since the tension holes 1421 and drive holes 1411 are respectively located on the intermediate protrusions 142 and the end protrusions 141, the track 10 can be separated from the plate body 140, which not only avoids interference between the two, but also facilitates cleaning of the track 10 and the plate body 140.

[0089] The mobile device may also include a stirring device and a suction device. The stirring device is configured to stir the radioactive waste liquid sediment to form a suspension, and the suction device is configured to suction the suspension.

[0090] See Figure 13 The suction device includes a suction port 32 disposed on the base plate 13.

[0091] The mixing device includes two mixing wheels 22 disposed below the base plate 13 along the width direction of the base plate 13, and a suction port 32 located on one side of the two mixing wheels 22 along the length direction of the base plate 13. It is easy to understand that the length direction of the base plate 13 is consistent with the travel direction of the mobile device.

[0092] like Figure 13 As shown by the middle arrow, the two stirring wheels 22 are configured to rotate relative to each other, so as to drive the suspension to flow through the gap between the two stirring wheels 22 to the side where the suction port 32 is located.

[0093] In related technologies, typically only one stirring wheel 22 is installed on the base plate 13. When the stirring wheel 22 rotates, it drives the water flow to form hydraulic agitation, stirring the radioactive sediment (i.e., radioactive waste liquid sediment) to form a suspension (i.e., slurry). Under the action of hydraulic agitation by the stirring wheel 22, the slurry radiates outwards, resulting in a lower liquid level at the suction port 32 located near the stirring wheel 22, reducing the total amount of slurry sucked by the suction port 32, thus causing slow suction. In this embodiment, two stirring wheels 22 are specifically installed on the base plate 13 along the width direction of the base plate 13. When the two stirring wheels 22 rotate relative to each other, they drive more slurry to flow along the gap between the two stirring wheels 22 toward the suction port 32 located on one side of the two stirring wheels 22, greatly increasing the total amount of slurry near the suction port 32, thereby improving the suction effect.

[0094] In some embodiments, the blades 221 of the two agitators 22 rotate in opposite directions, so that when the two agitators 22 rotate relative to each other (or towards each other), a large amount of mud can be collected towards the suction port 32. The rotation direction of the blades 221 can be the same as the rotation direction of the agitators 22.

[0095] The stirring device also includes two stirring motors 21, each used to drive a stirring wheel 22 to rotate. The stirring motors 21 can be mounted above the base plate 13.

[0096] The suction device may also include a suction pump 31, which is connected to the suction port 32 via a pipeline to provide suction force. The suction pump 31 may be mounted above the base plate 13. The suction pump 31 may be, for example, a diaphragm pump.

[0097] See Figure 14 and Figure 15The mixing device also includes a protective cover 23 located below the base plate 13. The protective cover 23 covers the outside of the two mixing wheels 22 and has multiple openings 230 for the mud to pass through. The protective cover 23 can protect the blades 221 of the mixing wheels 22 and prevent the blades 221 from wearing.

[0098] The protective cover 23 has a liquid outlet 231 on the side facing the suction port 32. When the two stirring wheels 22 rotate relative to each other, a large amount of mud will flow along the gap between the two stirring wheels 22 toward the suction port 32 located on one side of the two stirring wheels 22. The presence of the liquid outlet 231 allows the protective cover 23 to protect the blades 221 while not hindering the flow of mud toward the suction port 32.

[0099] The protective cover 23 may include a rectangular cover plate and a connecting plate extending from the periphery of the cover plate toward the base plate 13, with an outlet 231 formed on the connecting plate facing the suction port 32. Openings 230 are evenly distributed on the cover plate and the connecting plate.

[0100] See Figure 14 and Figure 16 The suction device also includes a filter cover 34 disposed below the base plate 13. The filter cover 34 covers the outside of the suction port 32, and has multiple filter holes 3410 for the passage of mud. The filter cover 34 can filter out larger particles, preventing them from adversely affecting the suction pump 31 or clogging the pipeline. The filter holes 3410 on the filter cover 34 can have the same shape and size as the openings 230 on the protective cover 23.

[0101] The filter cover 34 has an open collection trough 340 on one side facing the two agitators 22, which is used to collect the mud from the gap between the two agitators 22. Due to the presence of the collection trough 340, the filter cover 34 can not only filter, but also collect mud, so as to collect a large amount of mud in the filter cover 34, thereby improving the suction efficiency of the suction port 32.

[0102] See Figure 16 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 base plate 13, the connecting plate 342 connecting the cover plate 341 to the base plate 13. The top end of the connecting plate 342 (i.e. the end facing the base plate 13) forms a flange and is connected to the base plate 13 by fasteners.

[0103] The cover plate 341, the connecting plate 342, and the base plate 13 together form a filter chamber. The suction port 32 is located inside the filter chamber.

[0104] The cover plate 341 is recessed inward (i.e. recessed towards the bottom plate 13) to form a collection trough 340. The collection trough 340 is connected to the filter chamber through the filter hole 3410. The collection trough 340 forms the aforementioned opening on one side facing the two stirring wheels 22, which is used to collect the mud from the gap between the two stirring wheels 22.

[0105] In some embodiments, the bottom wall of the collection tank 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 obliquely upward from the side of the first bottom wall 3411 toward the two stirring wheels 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 the opening of the collection tank 340 toward the two stirring wheels 22. Because the second bottom wall 3412 extends obliquely upward, the slurry can gradually enter the filter chamber through the filter holes 3410 during its flow toward the collection tank 340, reducing the resistance to continued slurry flow and minimizing slurry backflow.

[0106] In some embodiments, the filter holes 3410 of the filter cover 34 are only provided on the bottom wall of the collection tank 340 and the cover plate 341 around the collection tank 340. That is, the connecting plate 342 of the filter cover 34 and the side wall of the collection tank 340 are both closed and do not have filter holes 3410. After the slurry from the stirring wheel 22 side enters the filter chamber through the collection tank 340, it will not flow outward through the connecting plate 342 of the filter cover 34 and the side wall of the collection tank 340, thereby further ensuring that the slurry entering the filter chamber can be sucked up.

[0107] 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 arc segments are designed to gently impede the flow of mud and prevent turbulence.

[0108] 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 trough 340 narrows inward from the opening, thereby generating the effect of collecting mud.

[0109] The width of the opening of the collection tank 340 can be greater than the width of the outlet 231 of the stirring device, so that as much mud as possible flows out of the outlet 231 into the collection tank 340.

[0110] See Figure 13 and Figure 14The suction device further includes a spray section 33, disposed inside the filter cover 34, for spraying and cleaning the filter cover 34. The spray section 33 is circumferentially covered with spray holes, enabling comprehensive spraying of the filter cover 34. Since the collection tank 340 is formed by recessing from the cover plate 341, the spray section 33 can also directly rinse the bottom wall of the collection tank 340. In some embodiments, the movable device is equipped with a high-pressure water pipe connected to the spray section 33 for supplying high-pressure water to the spray section 33.

[0111] In some embodiments, the mobile device further includes a robotic arm 40, which is located at the front end of the chassis body (near end plate 151). The front end of the robotic arm 40 may be provided with a high-pressure water nozzle and another suction port. The robotic arm 40 may be a multi-degree-of-freedom robotic arm with multiple joints to adjust the position and angle of the high-pressure water nozzle and the other suction port. In some embodiments, the robotic arm 40 can retract into the receiving space of the chassis body through the cooperation of its joints.

[0112] Regarding the embodiments of the present invention, it should also be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0113] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. The scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A mobile device for cleaning up radioactive waste liquid deposits, characterized in that, include: The chassis body includes a base plate and two side plates respectively disposed on both sides of the base plate along the width direction of the base plate; and Two sets of walking devices are symmetrically arranged on the two side plates and configured to move within the radioactive waste sediment, wherein each set of walking devices includes: At least one drive wheel, the drive wheel comprising: a drive body; a plurality of teeth extending radially outward from the drive body; and a drive outer plate and a drive inner plate respectively disposed on both axial sides of the drive body, wherein the outer drive plate and the drive inner plate have the same outer diameter, both being larger than the outer diameter of the drive body and smaller than the outer diameter of the teeth, and the outer drive plate, the drive inner plate, the drive body, and two adjacent teeth together form a groove; Multiple load-bearing wheels are respectively disposed on the lower part of the side plate; and The track is fitted over the at least one drive wheel and the plurality of load-bearing wheels. The track is composed of interconnected links. Each link includes a first link and a second link. The first link is used to mesh with the wheel teeth, and the second link is used to engage with two adjacent first links. Wherein, when the first chain link meshes with the gear teeth, a portion of the second chain link is located in the groove, and the first chain link is tangent to the drive outer plate and the drive inner plate; The mobile device also includes: A stirring device configured to agitate radioactive waste liquid sediments to form a suspension; and A suction device configured to suction the suspension, the suction device including a suction port disposed on the base plate. The stirring device includes two stirring wheels disposed below the bottom plate along the width direction of the bottom plate, and the suction port is located on one side of the two stirring wheels along the length direction of the bottom plate. The two stirring wheels are configured to rotate relative to each other so as to drive the suspension to flow through the gap between the two stirring wheels to the side where the suction port is located.

2. The mobile device according to claim 1, characterized in that, Each of the walking devices further includes: at least one drive device, disposed on the chassis body, and each drive device is used to drive a drive wheel to rotate; The driving device includes a housing and an annular protrusion disposed at one end of the housing and rotatably connected to the housing. The groove on the side of the drive inner plate facing the annular protrusion is inserted into the annular protrusion, and the drive wheel is connected to the annular protrusion as a whole by fasteners passing through the annular protrusion and the groove of the drive inner plate.

3. The mobile device according to claim 1, characterized in that, The radial end face of the load-bearing wheel is recessed inward to form an annular groove. A portion of the second chain link is located in the annular groove, and the first chain link is tangent to the groove wall of the annular groove.

4. The mobile device according to claim 3, characterized in that, The load-bearing wheel includes: a load-bearing body, a load-bearing outer plate and a load-bearing inner plate respectively disposed on both sides of the axial direction of the load-bearing body, the outer plate and the inner plate having the same outer diameter, both being larger than the outer diameter of the load-bearing body, and the outer plate, the inner plate and the load-bearing body together forming the annular groove.

5. The mobile device according to claim 1, characterized in that, Each set of the walking device further includes: a tensioning wheel for tensioning the track, wherein the radial end face of the tensioning wheel is recessed inward to form an annular groove. A portion of the second chain link is located in the annular groove, and the first chain link is tangent to the groove wall of the annular groove.

6. The mobile device according to claim 5, characterized in that, The tensioning wheel includes: a tensioning body, a tensioning outer plate and a tensioning inner plate respectively disposed on both axial sides of the tensioning body. The outer diameter of the tensioning outer plate and the tensioning inner plate are the same, both being larger than the outer diameter of the tensioning body. The tensioning outer plate, the tensioning inner plate, and the tensioning body together form the annular groove.

7. The mobile device according to claim 1, characterized in that, The drive body has recesses on both axial sides, and the drive outer plate and the drive inner plate have protrusions on the side facing the drive body. The protrusion is inserted into the recess, and the drive body, the drive outer plate, and the drive inner plate are connected as a whole by fasteners passing through the protrusion and the recess.

8. The mobile device according to claim 1, characterized in that, The drive device for driving the drive wheel to rotate includes a housing and an annular protrusion disposed at one end of the housing and rotatably connected to the housing. The inner drive plate has a groove on the side facing away from the drive body for insertion into the annular protrusion of the drive device. The drive wheel is connected to the annular protrusion by fasteners that pass through the annular protrusion and the groove of the inner drive plate.

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