Mobile device for cleaning radioactive waste liquid sediment and stirring wheel thereof

Abstract

The present invention relates to the technical field of radioactive material processing, and in particular to a movable device for cleaning radioactive waste liquid sediments and an agitator thereof. The agitator comprises an inner ring body, an inner cover plate, an outer ring body, an outer cover plate, and a plurality of blades. The inner ring body has a first end and a second end opposite to each other. The inner cover plate extends from a surface close to the first end of the inner ring body toward the second end of the inner ring body, and radially moves farther and farther away from the inner ring body. The outer ring body is coaxially arranged with the inner ring body, with the first end of the inner ring body extending into the interior of the outer ring body and the second end extending outward from the outer ring body. The outer cover plate is connected to an end of the outer ring body close to the second end of the inner ring body, and extends from the outer ring body toward the second end of the inner ring body, and radially moves farther and farther away from the inner ring body. Each blade comprises a first side edge in the width direction and a second side edge opposite to the first side edge, the first side edge being connected to the outer ring body and the outer cover plate, and the second side edge being connected to the inner ring body and the inner cover plate.

Description

Technical Field

[0001] The present invention relates to the technical field of radioactive material treatment, in particular to a movable device for cleaning radioactive waste liquid sediment and a stirring wheel thereof. Background Art

[0002] Currently, mobile equipment is used to retrieve and clean radioactive waste sediments from storage tanks. Existing mobile equipment typically features 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, existing mobile equipment suffers from poor stirring performance. Summary of the Invention

[0003] In response to the above technical problems, the first aspect of the present application provides a stirring wheel for a mobile device for cleaning radioactive waste liquid sediments, the stirring wheel having the advantage of good stirring effect. The second aspect of the present application also provides a mobile device for cleaning radioactive waste liquid sediments having the stirring wheel.

[0004] According to a first aspect of the present application, an embodiment of the present application provides a stirring wheel for a movable device for cleaning radioactive waste liquid sediments, the stirring wheel comprising:

[0005] an inner ring body having opposite first and second ends;

[0006] an inner cover plate connected to the inner ring body, the inner cover plate extending from a circumferential surface close to the first end of the inner ring body toward the second end of the inner ring body and increasingly farther away from the inner ring body in the radial direction;

[0007] The outer ring body is coaxially arranged with the inner ring body, the first end of the inner ring body extends into the interior of the outer ring body, and the second end of the inner ring body extends outward from the outer ring body;

[0008] an outer cover plate connected to an end portion of the outer ring body close to the second end of the inner ring body, the outer cover plate extending from the outer ring body toward the second end of the inner ring body and increasingly farther away from the inner ring body in the radial direction; and

[0009] A plurality of blades extending in a spiral shape, each blade including a first side edge in the width direction and a second side edge opposite to the first side edge, the first side edge being connected to the outer ring body and the outer cover plate, and the second side edge being connected to the inner ring body and the inner cover plate,

[0010] Among them, 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. The two adjacent blades, the outer ring body, the inner ring body, the inner cover plate and the outer cover plate jointly define a flow channel for liquid flow.

[0011] According to a second aspect of the present application, an embodiment of the present application provides a movable device for cleaning radioactive waste liquid sediments, comprising:

[0012] The chassis body comprises a bottom plate and two side plates respectively arranged on both sides of the bottom plate along the width direction of the bottom plate;

[0013] Two sets of walking devices are symmetrically arranged on two side panels and are configured to be able to walk in radioactive waste sediment;

[0014] at least one stirring wheel according to the first aspect of the present application, disposed below the bottom plate and configured to stir the radioactive waste liquid sediment to form a suspension; and

[0015] The suction port is disposed on the bottom plate and is configured to suck the suspension.

[0016] In the embodiment of the present application, the first side edge of the blade 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. 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 a flow channel for liquid flow, so that the two adjacent blades, the inner ring body, and the outer ring body jointly define a side port (i.e., the inlet of the flow channel) connected to the flow channel; and the two adjacent blades, the inner cover plate, and the outer cover plate jointly define a side port (i.e., the outlet of the flow channel) connected to the flow channel. Thus, when the impeller rotates at a high speed, it can drive the liquid through the port of the outer ring body (i.e., the axial port of the outer ring body on the side away from the inner ring body) to enter each flow channel through the port on one side of each flow channel and flow out through the port on the other side of each flow channel.

[0017] In related art, the blades are typically not connected to the inner and / or outer rings, but only to the inner and outer cover plates. By changing the connection between the blades at the flow channel inlet, the embodiment of the present application can increase the flow rate of the liquid at the flow channel inlet, thereby improving the overall stirring effect of the impeller. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other objects and advantages of the present invention will become apparent from the following description of the present invention with reference to the accompanying drawings, which will help to provide a comprehensive understanding of the present invention.

[0019] Figure 1 is a schematic structural diagram of a stirring wheel according to an embodiment of the present invention;

[0020] Figure 2 yes Figure 1 a bottom view of the mixing wheel shown;

[0021] Figure 3 yes Figure 1 a side view of the mixing wheel shown;

[0022] Figure 4 yes Figure 3 A cross-sectional view of the stirring wheel along the AA direction is shown;

[0023] Figure 5 yes Figure 3 A cross-sectional view of the stirring wheel along the BB direction;

[0024] Figure 6 2 is a schematic structural diagram of a retrieval trolley according to an embodiment of the present invention;

[0025] Figure 7 yes Figure 6 A bottom view of the retrieval trolley is shown;

[0026] Figure 8 is a bottom view of a retrieval trolley according to another embodiment of the present invention;

[0027] Figure 9 yes Figure 8 A schematic structural diagram of the protective cover shown;

[0028] Figure 10 yes Figure 8 A schematic diagram of the structure of the filter cover shown; and

[0029] Figure 11 yes Figure 10 Bottom view of the filter housing shown.

[0030] 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.

[0031] Description of reference numerals:

[0032] 10. Tracks;

[0033] 13. Bottom plate;

[0034] 14. Side panels;

[0035] 16. Driving wheel;

[0036] 17. Load-bearing wheels;

[0037] 18. Tensioner;

[0038] 19. Drive device

[0039] 21. Stirring motor;

[0040] 22, stirring wheel; 221, blade; 2211, first side edge; 2212, second side edge; 222, inner ring; 2220, shaft hole; 2221, curved section; 2222, straight section; 2223, mating portion; 2224, first end; 2225, second end; 223, inner cover plate; 224, outer cover plate; 225, outer ring; 226, flow channel inlet; 227, flow channel outlet;

[0041] 23. Protective cover; 230. Opening; 231. Liquid outlet;

[0042] 31. Suction pump;

[0043] 32. Suction port;

[0044] 33. Spraying unit;

[0045] 34, filter cover; 340, collection tank; 3410, filter hole; 341, cover plate; 3411, first bottom wall; 3412, second bottom wall; 34121, rectangular surface; 34122, trapezoidal extension surface; 342, connecting plate;

[0046] 40. Robotic arm. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiment is only one embodiment of the present invention, not all embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that, unless otherwise defined, the technical or scientific terms used in this application should have the common meanings understood by persons having ordinary skills in the field to which the invention belongs.

[0049] In the description of the embodiments of the present invention, “a plurality of” means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0050] An embodiment of the present invention provides a stirring wheel of a movable device for cleaning radioactive waste liquid sediment. The stirring wheel of the embodiment of the present application can be driven to rotate by a motor or other power source.

[0051] See also Figures 1 to 5 The stirring wheel 22 of the embodiment of the present invention includes: an inner ring body 222, an inner cover plate 223, an outer ring body 225, an outer cover plate 224 and a plurality of blades 221 extending in a spiral shape.

[0052] The inner ring body 222 has an opposite first end 2224 and a second end 2225. The inner cover plate 223 is connected to the inner ring body 222. The inner cover plate 223 extends from a circumferential surface close to the first end 2224 of the inner ring body 222 toward the second end 2225 of the inner ring body 222, and is increasingly farther away from the inner ring body 222 in the radial direction.

[0053] The outer ring 225 is coaxially arranged with the inner ring 222. The first end 2224 of the inner ring 222 extends into the interior of the outer ring 225, and the second end 2225 of the inner ring 222 extends outward from the outer ring 225. The outer cover plate 224 is connected to the end of the outer ring 225 near the second end 2225 of the inner ring 222. The outer cover plate 224 extends from the outer ring 225 toward the second end 2225 of the inner ring 222, and radially moves increasingly farther away from the inner ring 222.

[0054] In the embodiment of the present application, the blades 221 are spiral-shaped throughout their entire length. Each blade 221 includes a first side edge 2211 in the width direction and a second side edge 2212 opposite the first side edge 2211. The first side edge 2211 is connected to the outer ring body 225 and the outer cover plate 224, while the second side edge 2212 is connected to the inner ring body 222 and the inner cover plate 223. The first side edge 2211 extends from the outer ring body 225 along the surface of the outer ring body 225 and the surface of the outer cover plate 224 to the outer periphery of the outer cover plate 224, and the second side edge 2212 extends from the inner ring body 222 along the surface of the inner ring body 222 and the surface of the inner cover plate 223 to the outer periphery of the inner cover plate 223. Two adjacent blades 221, the outer ring body 225, the inner ring body 222, the inner cover plate 223, and the outer cover plate 224 collectively define a flow channel for liquid flow.

[0055] In the embodiment of the present application, the first side edge 2211 of the blade 221 is connected to the outer ring body 225 and the outer cover plate 224, the second side edge 2212 is connected to the inner ring body 222 and the inner cover plate 223, and the first side edge 2211 extends from the outer ring body 225 along the surface of the outer ring body 225 and the surface of the outer cover plate 224 to the outer periphery of the outer cover plate 224, and the second side edge 2212 extends from the inner ring body 222 along the surface of the inner ring body 222 and the surface of the inner cover plate 223 to the inner periphery of the outer cover plate 224. The outer periphery of the cover plate 223, two adjacent blades 221, the outer ring body 225, the inner ring body 222, the inner cover plate 223, and the outer cover plate 224 collectively define a flow channel for liquid flow. The two adjacent blades 221, the inner ring body 222, and the outer ring body 225 collectively define a port (i.e., a flow channel inlet 226) communicating with the flow channel; and the two adjacent blades 221, the inner cover plate 223, and the outer cover plate 224 collectively define a port (i.e., a flow channel outlet 227) communicating with the flow channel. Thus, when the agitator 22 rotates at high speed, it can drive liquid through the port of the outer ring body 225 (i.e., the axial port of the outer ring body 225 on the side away from the inner ring body 222), enter each flow channel through the flow channel inlet 226, and flow outward at high speed through the flow channel outlet 227. Since the flow channel is spiral in shape as a whole, the liquid can play a role of hydraulic impact stirring when it flows outward from each flow channel outlet 227 at a high speed.

[0056] In the related art, the blades 221 are usually not connected to the inner ring body 222 and / or the outer ring body 225, but are only connected to the inner cover plate 223 and the outer cover plate 224. The embodiment of the present application changes the connection relationship of the blades 221 on the side of the flow channel inlet 226, changes the shape of the flow channel inlet 226, and can increase the flow rate of the liquid at the flow channel inlet 226, thereby improving the stirring effect of the stirring wheel 22 as a whole.

[0057] In some embodiments, the outer cover plate 224 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 liquid flows out of the flow channel outlet 227, it can fly outward at a greater linear velocity, thereby improving the hydraulic stirring effect.

[0058] In some embodiments, the inner ring body 222 includes a curved section 2221 and a straight section 2222 connected to the curved section 2221. The curved section 2221 extends from the first end 2224 of the inner ring body 222 toward the second end 2225 and radially moves increasingly farther away from the axis X of the inner ring body 222. The generatrix of the curved section 2221 is a curve that is concave inward toward the axis X of the inner ring body 222. The inner cover plate 223 smoothly connects to the end of the curved section 2221 away from the first end 2224. The second side edge 2212 of the blade 221 extends from the curved section 2221 along the surface of the curved section 2221 and the surface of the inner cover plate 223 to the outer peripheral edge of the inner cover plate 223. The present application implements the method of smoothly connecting the inner cover plate 223 with the end of the curved section 2221 away from the first end 2224, and extending the second side edge 2212 of the blade 221 from the curved section 2221 along the surface of the curved section 2221 and the surface of the inner cover plate 223 to the outer periphery of the inner cover plate 223, thereby improving the shape of the flow channel inlet 226 side, which can further increase the flow rate of the liquid at the flow channel inlet 226, thereby improving the stirring effect of the stirring wheel 22 as a whole.

[0059] In some embodiments, the inner cover plate 223 has a curved surface structure, and the generatrix of the curved surface structure is a curve that convexly faces the axis X of the inner ring body 222. In the embodiment of the present application, by setting the generatrix of the curved surface structure to be a curve that convexly faces the axis X of the inner ring body 222, the flow resistance of the flow channel can be reduced, which is conducive to increasing the flow rate of the liquid in the flow channel.

[0060] In some embodiments, the inner ring body 222 has a mating portion 2223 extending in the axial direction for mating with the drive shaft. The mating portion 2223 can be a groove formed on the inner wall of the inner ring body 222. The inner ring body 222 has an axial hole 2220, and the groove is formed on the axial hole 2220.

[0061] In some embodiments, the first side edge 2211 extends from the middle of the outer ring 225 to the outer periphery of the outer cover plate 224. The embodiment of the present application further improves the shape of the flow channel inlet 226 to increase the flow rate of the liquid at the flow channel inlet 226.

[0062] In some embodiments, the outer periphery of the inner cover plate 223 has the same diameter as that of the outer periphery of the outer cover plate 224 and is coaxial with the inner ring body 222 , so that each flow channel outlet 227 is basically located on an annular surface coaxial with the inner ring body 222 .

[0063] The present application also provides a mobile device for cleaning radioactive waste liquid sediment. Figure 6 and Figure 7The mobile device comprises a chassis and two sets of running gear. The chassis comprises a base plate 13 and two side plates 14 disposed on either side of the base plate 13 along its width. As will be readily understood, the width of the base plate 13 is the horizontal direction perpendicular to the mobile device's travel direction. The two sets of running gear are symmetrically disposed on the two side plates 14 and are configured to enable movement within radioactive waste sediment.

[0064] 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.

[0065] See also Figure 7 The movable device further includes at least one stirring wheel 22 according to any embodiment of the present application. The stirring wheel 22 is disposed below the base plate 13 and is configured to stir the radioactive waste liquid sediment to form a suspension. The movable device further includes a suction port 32 disposed on the base plate 13 and configured to aspirate the suspension.

[0066] The movable device of the embodiment of the present application is provided with the stirring wheel 22 of the embodiment of the present application below the bottom plate 13 (i.e. below the chassis), which is beneficial to improving the stirring effect of the radioactive waste liquid sediment, and further facilitates the suction of the suction port 32.

[0067] In some embodiments, there are two 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 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.

[0068] like Figure 7 As shown by the middle arrows, the two stirring wheels 22 are configured to rotate relative to each other 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.

[0069] In the related art, usually only one stirring wheel 22 is provided on the bottom plate 13. When the 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 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 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 stirring wheels 22 on the bottom plate 13 along the width direction of the bottom plate 13. When the two stirring wheels 22 rotate relative to each other, more mud will be driven 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, so that the total amount of mud near the suction port 32 is greatly increased, thereby improving the suction effect.

[0070] In some embodiments, the blades 221 of the two stirring wheels 22 rotate in opposite directions, so that when the two stirring wheels 22 rotate relative to (or toward) each other, a large amount of mud can be gathered toward the suction port 32. The rotation direction of the blades 221 can be the same as the rotation direction of the stirring wheels 22.

[0071] In some embodiments, the movable device further includes two stirring motors 21 , each configured to drive a stirring wheel 22 . The stirring motors 21 may be disposed above the bottom plate 13 .

[0072] The movable device may further 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 arranged above the bottom plate 13. The suction pump 31 may be, for example, a diaphragm pump.

[0073] See also Figure 8 and Figure 9 The movable device further includes a protective cover 23 disposed below the bottom plate 13. The protective cover 23 is disposed outside the two stirring wheels 22. The protective cover 23 has a plurality of openings 230 for allowing the mud to pass through. The protective cover 23 can protect the blades 221 of the stirring wheel 22 and prevent the blades 221 from being worn.

[0074] A liquid outlet 231 is provided on the side of the protective cover 23 facing the suction port 32. When the two stirring wheels 22 rotate relative to each other, a large amount of mud is driven 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. The presence of the liquid outlet 231 allows the protective cover 23 to protect the blades 221 while not hindering the mud from flowing toward the suction port 32.

[0075] The protective cover 23 may include a rectangular cover plate and connecting plates extending from the periphery of the cover plate toward the bottom plate 13. The liquid outlet 231 is formed on the connecting plate facing the suction port 32. The openings 230 are evenly distributed on the cover plate and the connecting plate.

[0076] See also Figure 8 and Figure 10 The movable device further includes a filter cover 34 disposed below the bottom 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 opening 230 in the protective cover 23.

[0077] A collecting groove 340 with an opening is formed on the side of the filter cover 34 facing the two stirring wheels 22 to collect the mud from the gap between the two stirring wheels 22. 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.

[0078] See also Figure 10 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 with a flange and connected to the bottom plate 13 by fasteners.

[0079] 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.

[0080] 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 one side facing the two stirring wheels 22, which is used to collect the mud from the gap between the two stirring wheels 22.

[0081] 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 obliquely upward from the side of the first bottom wall 3411 facing the two agitator wheels 22 until it is flush with the top of the connecting plate 342. The side of the second bottom wall 3412 facing away from the first bottom wall 3411 forms an opening of the collection trough 340 facing the two agitator wheels 22. Because the second bottom wall 3412 extends obliquely upward, as the slurry flows toward the collection trough 340, it gradually enters the filter cavity through the filter holes 3410, reducing resistance to continued mud flow and minimizing mud backflow.

[0082] 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 22, 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.

[0083] 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.

[0084] See also Figure 11 In some embodiments, the second bottom wall 3412 includes a rectangular surface 34121 connected to the first bottom wall 3411 and a trapezoidal extension surface 34122 connected to the rectangular surface 34121, so that the width of the collecting trough 340 is narrowed inward from the opening, thereby generating the effect of gathering mud.

[0085] 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 .

[0086] See also Figure 7 The movable device further includes: a spray portion 33, which is arranged in the filter cover 34 and is used to spray and remove dirt from the filter cover 34. The spray portion 33 is covered with spray holes around its circumference, so that the filter cover 34 can be sprayed comprehensively. Since the collection tank 340 is formed by recessing the cover plate 341, the spray portion 33 can also directly flush the bottom wall of the collection tank 340. In some embodiments, the movable device is provided with a high-pressure water pipe, which is connected to the spray portion 33 and is used to provide high-pressure water to the spray portion 33.

[0087] In some embodiments, the mobile device further includes a robotic arm 40, which is disposed at the front end of the chassis. A high-pressure water jet and another suction port may be provided at the front end of the robotic arm 40. 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 jet and the other suction port. In some embodiments, the robotic arm 40 can be retracted within the chassis through the coordination of the joints.

[0088] 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.

[0089] 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 wheel, a movable device for cleaning radioactive waste liquid sediment, the stirring wheel comprising: an inner ring body having opposing first and second ends; an inner cover plate connected to the inner ring body, the inner cover plate extending from a circumferential surface close to the first end of the inner ring body toward the second end of the inner ring body and increasingly farther away from the inner ring body in a radial direction; 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; an outer cover plate connected to an end portion of the outer ring body close to the second end of the inner ring body, the outer cover plate extending from the outer ring body toward the second end of the inner ring body and increasingly farther away from the inner ring body in a radial direction; and A plurality of blades extending in a spiral shape, each of the blades including a first side edge in a width direction and a second side edge opposite to the first side edge, the first side edge being connected to the outer ring body and the outer cover plate, and the second side edge being connected to the inner ring body and the inner cover plate, Among them, 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. The two adjacent blades, the outer ring body, the inner ring body, the inner cover plate and the outer cover plate jointly define a flow channel for liquid flow.

2. The stirring wheel according to claim 1, wherein The outer cover plate is an annular inclined surface.

3. The stirring wheel according to claim 1, 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.

4. The stirring wheel according to claim 3, 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.

5. The stirring wheel according to claim 1, wherein The inner ring body is provided with a matching portion extending along the axial direction for matching with the drive shaft.

6. The stirring wheel according to claim 5, wherein: The matching portion is a groove formed on the inner wall of the inner ring body.

7. The stirring wheel according to claim 1, wherein The first side edge extends from the middle portion of the outer ring body to the outer periphery of the outer cover plate.

8. The stirring wheel according to claim 1, wherein The diameter of the outer peripheral edge of the inner cover plate is the same as the diameter of the outer peripheral edge of the outer cover plate, and the inner cover plate is coaxial with the inner ring body.

9. A movable device for cleaning radioactive waste liquid sediments, comprising: The chassis body comprises a bottom plate and two side plates respectively arranged on both sides of the bottom plate along the width direction of the bottom plate; Two sets of walking devices are symmetrically arranged on the two side plates and are configured to be able to walk in the radioactive waste liquid sediment; at least one stirring wheel according to any one of claims 1 to 8, disposed below the bottom plate and configured to stir the radioactive liquid waste sediment to form a suspension; as well as The suction port is disposed on the bottom plate and is configured to suck the suspension.

10. The movable device according to claim 9, wherein: There are two stirring wheels, and the two stirring wheels are arranged below the bottom plate along the width direction of the bottom plate. The suction port is located on one side of the two stirring wheels along the length direction of the bottom plate. The blades of the two stirring wheels rotate in opposite directions and 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.

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