Mobile device and crawler track thereof for cleaning radioactive waste liquid sediment

Abstract

The embodiments of the present invention relate to the technical field of radioactive material processing, and more particularly to a movable device for cleaning radioactive waste liquid sediments and its crawler track. The crawler track is composed of interconnected chain links. Each chain link includes: a first chain link, a second chain link and a walking plate. The first chain link is used to mesh with the gear teeth of the driving wheel of the movable device. The second chain link is used to be mutually socketed with two adjacent first chain links. The walking plate is arranged on a side surface of the second chain link away from the driving wheel, and is used to contact the walking surface of the movable device. The crawler track of the embodiment of the present application can ensure that the movable device can walk normally in the storage tank storing radioactive waste liquid sediments, and can also be cleaned relatively easily.

Description

Technical Field

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

[0002] At present, tracked mobile devices are usually used to retrieve radioactive waste liquid sediments in storage tanks. During the retrieval process, a certain amount of radioactive substances will remain on the track. After the retrieval is completed, the mobile device needs to be flushed to remove the residual substances. However, the structure of the existing track is usually designed to be more complicated and has many dead angles, which makes it difficult to clean the track of the tracked mobile device after the retrieval is completed. Summary of the invention

[0003] In view of the above technical problems, the first aspect of the present application provides a crawler of a movable device for cleaning radioactive waste liquid sediments, which can ensure that the movable device can move normally in the storage tank and can be cleaned more easily. The second aspect of the present application also provides a movable device for cleaning radioactive waste liquid sediments having the crawler.

[0004] According to a first aspect of the present application, an embodiment of the present application provides a crawler for a movable device for cleaning radioactive waste liquid sediments, wherein the crawler is composed of interconnected links, each of which includes:

[0005] a first chain ring, for engaging with the gear teeth of a driving wheel of the movable device;

[0006] A second chain ring, configured to be sleeved with two adjacent first chain rings; and

[0007] A walking plate is arranged on a side surface of the second chain ring away from the driving wheel and is used for contacting a walking surface of the movable device.

[0008] 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:

[0009] A chassis body, the chassis body comprising a bottom plate and two side plates respectively located at opposite sides of the bottom plate;

[0010] Two sets of walking devices are symmetrically arranged on the two side panels, and each set of the walking devices includes:

[0011] at least one driving wheel disposed on the side plate;

[0012] A plurality of load-bearing wheels are respectively arranged at the lower part of the side plates;

[0013] The crawler according to the first aspect of the present application is sleeved outside the at least one driving wheel and the plurality of load-bearing wheels;

[0014] A driving device, disposed on the base plate, for driving the driving wheels of the two sets of walking devices to rotate; and

[0015] The stirring and suction device is arranged on the bottom plate and is used for stirring the radioactive waste liquid sediment to form a suspension and suctioning the suspension.

[0016] The embodiment of the present application adopts a chain-link track in which a first chain link and a second chain link are mutually socketed, and a walking plate is provided on the second chain link, so that the track of the embodiment of the present application can ensure that the movable equipment can move normally in the storage tank storing radioactive waste liquid sediment, and can also be cleaned relatively easily. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

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

[0019] Figure 2 yes Figure 1 A schematic diagram of the partial structure of the crawler shown;

[0020] Figure 3 is a schematic diagram of a partial structure of a crawler according to another embodiment of the present invention;

[0021] Figure 4 yes Figure 3 An exploded schematic diagram of the links of the track shown;

[0022] Figure 5 yes Figure 4 A schematic structural diagram of the first connecting portion shown;

[0023] Figure 6 yes Figure 5 a side view of the first connecting portion shown;

[0024] Figure 7 yes Figure 5 A front view of the first connecting portion shown;

[0025] Figure 8 is a schematic structural diagram of a mobile device according to an embodiment of the present invention;

[0026] Fig. 9 yes Figure 8 The structural schematic diagram of the driving wheel shown;

[0027] Fig.10 yes Figure 8 The structural schematic diagram of the load-bearing wheel shown;

[0028] Fig.11 and Fig.12 Schematic diagrams showing the cooperation between the walking device and the crawler track of the movable equipment are shown respectively;

[0029] Fig.13 yes Figure 8 a bottom view of the movable device shown;

[0030] Fig.14 is a bottom view of a movable device according to another embodiment of the present invention;

[0031] Fig.15 yes Fig.14 A schematic diagram of the structure of the protective cover shown; and

[0032] Fig.16 yes Fig.14 Schematic diagram of the structure of the filter cover shown.

[0033] 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.

[0034] Description of reference numerals:

[0035] 10. crawler track; 11. first link; 111. spacer plate; 1111. groove; 1112. groove wall; 112. first connecting portion; 1121. arc groove; 11211. first groove wall; 11212. second groove wall; 1122. rectangular groove;

[0036] 12. second chain ring; 121. walking board; 123. rubber layer;

[0037] 13. Bottom plate;

[0038] 14. Side panels;

[0039] 16, driving wheel; 160, groove; 161, driving body; 162, driving outer plate; 163, driving inner plate; 164, gear teeth;

[0040] 17, load-bearing wheel; 170, annular groove; 171, load-bearing outer plate; 172, load-bearing inner plate; 173, load-bearing body;

[0041] 18. Tensioner;

[0042] 19. Driving device

[0043] 21. Stirring motor;

[0044] 22. stirring wheel; 221. blade;

[0045] 23. Protective cover; 230. Opening; 231. Liquid outlet;

[0046] 31. Suction pump;

[0047] 32. Suction port;

[0048] 33. Spraying part;

[0049] 34, filter cover; 340, collection tank; 3410, filter hole; 341, cover plate; 3411, first bottom wall; 3412, second bottom wall; 342, connecting plate;

[0050] 40. Robotic arm. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution 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 one embodiment of the present invention, not all embodiments. Based on the described embodiments 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.

[0052] It should be noted that, unless otherwise defined, the technical terms 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.

[0053] In the description of the embodiments of the present invention, “plurality” means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] An embodiment of the present invention provides a crawler track of a movable device for cleaning radioactive waste liquid sediment.

[0055] See also Figure 1 and Figure 2 The crawler belt 10 provided in the embodiment of the present application is composed of interconnected links. Each link includes: a first link 11, a second link 12 and a walking plate 121.

[0056] The first chain ring 11 is used to mesh with the gear teeth of the driving wheel of the movable device. The second chain ring 12 is used to be mutually sleeved with two adjacent first chain rings 11. The walking plate 121 is arranged on a side surface of the second chain ring 12 away from the driving wheel, and is used to contact the walking surface of the movable device.

[0057] The crawler 10 of the embodiment of the present application is a chain-link crawler in which the first chain link 11 and the second chain link 12 are mutually sleeved. Since there is basically no dead angle between the first chain link 11 and the second chain link 12, the crawler 10 is easier to clean. The present application further provides a walking plate 121 on the second chain link 12. Compared with the second chain link 12, the walking plate 121 can increase the contact area between the crawler 10 and the walking surface, thereby increasing the stability and friction of the crawler 10, ensuring that the movable device can walk normally in the storage tank, and at the same time, can clean the radioactive substances remaining on the crawler 10 after cleaning the radioactive sediment.

[0058] The width of the walking plate 121 can be substantially the same as the width of the second chain ring 12, thereby further increasing the contact area and increasing the stability and friction of the crawler 10. It is easy to understand that the substantially the same here can be understood as the difference between the two not exceeding 10% of the width of the second chain ring 12.

[0059] Since the storage tanks for storing radioactive waste liquid are usually for a long time, and the storage tanks will also be damaged to a certain extent due to radioactive radiation, in order to avoid damaging the bottom wall of the storage tank and prevent the leakage of radioactive waste liquid, in some embodiments, see Figure 3 Each link further includes a rubber layer 123, which is arranged on the outer surface of the walking plate 121 facing away from the second link 12. The rubber layer 123 can further increase the friction force and avoid scratching the bottom wall of the storage tank.

[0060] The bottom surface of the rubber layer 123 may be formed in a sawtooth shape for anti-slip.

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

[0062] It is easy to understand that the existence of the spacer plate 111 can prevent the two adjacent second chain links 12 from moving toward each other, thereby preventing the track 10 from being too loose. In particular, for those walking plates 121 that are in contact with the walking surface, it is beneficial for the two adjacent walking plates 121 to remain parallel and not tilted, so that the track 10 is in a parallel and tensioned state.

[0063] In some embodiments, when the first links 11 in two adjacent links are in the same plane, the rubber layer 123 between the spacers 111 in the two links protrudes outward from the spacers 111 so that the rubber layer 123 contacts the walking surface while the spacers 111 do not contact the walking surface, thereby preventing the spacers 111 from causing wear on the bottom of the tank.

[0064] In some embodiments, the end surface of the spacer plate 111 facing the driving wheel is recessed in a direction away from the driving wheel to form a groove 1111, so as to form a meshing groove with the first chain link 11 for meshing with the gear teeth of the driving wheel. This is conducive to maintaining a relatively good tension level of the entire crawler 10. When the first chain link 11' meshes with the gear teeth located directly above the driving wheel, it is possible to prevent the other first chain link 11" meshing with the gear teeth located below the driving wheel from being disengaged from the gear teeth of the driving wheel due to excessive looseness, see Fig.11 .

[0065] In some embodiments, when the first links 11 in two adjacent links are in the same plane, the spacer plates 111 in the two links and the walking plate 121 between the two spacer plates 111 are perpendicular to each other. In this way, when the walking plate 121 contacts the walking surface, it is beneficial for the two adjacent first links 11 to be parallel without tilting, so that the crawler 10 can maintain tension.

[0066] In some embodiments, the length of the walking plate 121 may be less than the length of the second chain ring 12, and the walking plate 121 is welded to the middle of the side surface of the second chain ring 12 facing away from the driving wheel along the length direction. Fig.11 Such an arrangement can ensure sufficient space between adjacent walking plates and spacer plates 111, thereby preventing the second chain ring 12' from tilting due to the abutment between the walking plates 121' and the spacer plates 111', making it easy for the crawler track 10 to disengage from the gear teeth.

[0067] The spacer plate 111 may be welded to the middle portion of the side surface of the first chain ring 11 facing away from the driving wheel along the length direction.

[0068] In some embodiments, the first link 11 and the second link 12 have the same link structure, both of which are closed rings. The cross section of the link can be circular. The link can be formed by bending and butting a metal rod and then welding.

[0069] In some embodiments, the widths of the first chain ring 11 , the second chain ring 12 , the spacer plate 111 , and the walking plate 121 are substantially the same.

[0070] In some embodiments, the surface where the first link 11 and the spacer plate 111 meet is a curved surface. Figure 4 and Figure 5 Each link further includes: two first connecting portions 112 , and the groove walls 1112 on both sides of the groove 1111 of the spacer plate 111 are respectively welded to the first link 11 through a first connecting portion 112 .

[0071] The first connecting portion 112 includes an arc groove 1121 for cooperating with the first link 11 and a rectangular groove 1122 opposite to the arc groove 1121 for cooperating with the spacer 111, thereby avoiding dead volume between the spacer 111 and the first link 11, which is beneficial for cleaning residual radioactive substances.

[0072] In some embodiments, see Figure 6 and Figure 7 , the first groove wall 11211 facing inward of the arc groove 1121 is higher than the second groove wall 11212 facing outward. It is easy to understand that the side facing inward is the side facing the groove 1111, and the side facing outward is the side away from the groove 1111. When the gear teeth are engaged with the first chain ring 11, there is a resistance between the gear teeth and the first connecting portion 112. Setting the first groove wall 11211 higher than the second groove wall 11212 can enhance the welding strength between the first connecting portion 112 and the first chain ring 11, and prevent the first connecting portion 112 from being separated from the first chain ring 11. The outer surface of the second groove wall 11212 of the arc groove 1121 extends inwardly from bottom to top.

[0073] The present application also provides a mobile device for cleaning radioactive waste liquid sediment. Figure 8 and Fig.12 The movable device may include: a chassis body, two sets of walking devices, a driving device 19, and a stirring and suction device.

[0074] The chassis body includes a bottom plate 13 and two side plates 14 located at opposite sides of the bottom plate 13 .

[0075] It is easy to understand that the two side panels 14 can be respectively arranged on both sides of the bottom plate 13 in the width direction (or referred to as the transverse direction), that is, in the horizontal direction perpendicular to the walking direction of the movable device.

[0076] The two sets of walking devices are symmetrically arranged on the two side plates 14 and are configured to be able to walk in the radioactive waste liquid sediment.

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

[0078] The driving wheel 16 is arranged on the side plate 14. The plurality of load-bearing wheels 17 are respectively arranged on the lower part of the side plate 14. The crawler track 10 is sleeved outside at least one driving wheel 16 and the plurality of load-bearing wheels 17.

[0079] 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 stirring and suction device is arranged on the bottom plate 13, and is used to stir the radioactive waste liquid sediment to form a suspension (ie, mud), and to suction the suspension.

[0080] See also Fig. 9 The driving wheel 16 includes: a driving body 161, a plurality of gear teeth 164, a driving outer plate 162 and a driving inner plate 163. The plurality of gear teeth 164 extend radially outward from the driving body 161. The driving outer plate 162 and the driving inner plate 163 are respectively arranged on both sides of the driving body 161 in the axial direction. The outer diameters of the driving outer plate 162 and the driving inner plate 163 are the same, both larger than the outer diameter of the driving body 161 and smaller than the outer diameter of the gear teeth 164. The driving outer plate 162, the driving inner plate 163, the driving body 161 and two adjacent gear teeth 164 together form a groove 160.

[0081] The driving wheel 16 of the embodiment of the present application has substantially no dead angle, and thus is conducive to cleaning the radioactive material remaining on the driving wheel after cleaning the radioactive deposits.

[0082] When the first chain ring 11 is engaged with the gear teeth 164 , a portion of the second chain ring 12 is located in the groove 160 , and the first chain ring 11 is tangent to the driving outer plate 162 and the driving inner plate 163 .

[0083] See also Fig.11 In the embodiment of the present application, the driving wheel 16 adopts a three-layer structure of a driving body 161, a driving outer plate 162 and a driving inner plate 163. The driving outer plate 162 and the driving inner plate 163 are always tangent to the first chain ring 11 in the horizontal direction, and the gear teeth 164 located in the middle are inserted into the first chain ring 11, which plays the role of limiting and transmitting the rotational driving force.

[0084] The structure of the driving wheel 16 in the embodiment of the present application can not only realize the function of limiting and transmitting the driving force, but also facilitate cleaning of the radioactive substances.

[0085] See also Fig.10 The load-bearing wheel 17 includes: a load-bearing body 173, a load-bearing outer plate 171 and a load-bearing inner plate 172 respectively arranged on both sides of the axial direction of the load-bearing body, the outer diameters of the load-bearing outer plate and the load-bearing inner plate are the same and both are larger than the outer diameter of the load-bearing body, and the load-bearing outer plate, the load-bearing inner plate and the load-bearing body together form an annular groove 170. A portion of the second link 12 is located in the annular groove 170, and the first link 11 is tangent to the groove wall of the annular groove 170.

[0086] See also Fig.12 The weight of the vehicle body carried by the load-bearing wheel 17 is transferred to the first link 11 through the load-bearing outer plate 171 and the load-bearing inner plate 172, and is transferred to the ground through the walking plate 121. The above-mentioned structure of the driving wheel 16 and the load-bearing wheel 17 ensures the load transfer capacity of the crawler 10 and the continuous and stable operation. It can be seen that the load-bearing wheel 17 of the embodiment of the present application is particularly suitable for use with the crawler 10 of the embodiment of the present application, and is also conducive to cleaning the radioactive material.

[0087] The side plate 14 is in 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 .

[0088] Each set of walking devices may also include a plurality of tensioning wheels 18, which are arranged on the upper part of the side plate 14 and are used to tension the crawler 10. The radial end surface of the tensioning wheel 18 is recessed inward to form an annular groove, a portion of the second chain ring 12 is located in the annular groove, and the first chain ring 11 is tangent to the groove wall of the annular groove. The tensioning wheel 18 of the embodiment of the present application is particularly suitable for use with the crawler 10 of the embodiment of the present application, and is also conducive to cleaning radioactive substances.

[0089] The stirring and suction device includes 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 suck the suspension. The suction device includes a suction port 32 arranged on the bottom plate 13.

[0090] See also Fig.13 The stirring device includes two stirring wheels 22 arranged below the bottom plate 13 along the width direction of the bottom plate 13, and 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 walking direction of the movable device.

[0091] like Fig.13 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.

[0092] In the related art, usually only one stirring wheel 22 is provided on the bottom plate 13. When the stirring wheel 22 rotates, it will drive the water flow to form hydraulic stirring, and stir the radioactive sludge (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. In the embodiment of the present application, two stirring wheels 22 are particularly provided 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.

[0093] 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 and the rotation direction of the stirring wheels 22 can be the same.

[0094] The stirring device further comprises two stirring motors 21, each for driving a stirring wheel 22 to rotate. The stirring motor 21 can be arranged above the bottom plate 13.

[0095] The suction device may further include a suction pump 31, which is connected to the suction port 32 through 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.

[0096] See also Fig.14 and Fig.15 The stirring device further comprises a protective cover 23 disposed below the bottom plate 13, the protective cover 23 is disposed outside the two stirring wheels 22, and the protective cover 23 is provided with a plurality of openings 230 for 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.

[0097] 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, more 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 existence of the liquid outlet 231 enables the protective cover 23 to protect the blades 221 while not hindering the mud from flowing toward the suction port 32.

[0098] The protective cover 23 may include a rectangular cover plate and a connecting plate extending from the periphery of the cover plate toward the bottom plate 13, and 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.

[0099] See also Fig.14 and Fig.16 The suction device further includes: a filter cover 34 disposed below the bottom plate 13, the filter cover 34 is disposed outside the suction port 32, and a plurality of filter holes 3410 are provided on the filter cover 34 for mud to pass through. The filter cover 34 can filter out larger particles to prevent the large particles from causing adverse effects on the suction pump 31 or blocking 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.

[0100] A collecting groove 340 with an opening is formed on one side of the filter cover 34 facing the two stirring wheels 22, for collecting the mud from the gap between the two stirring wheels 22. Due to the existence 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, which is conducive to improving the suction efficiency of the suction port 32.

[0101] See also Fig.16The 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, and 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) forms a flange and is connected to the bottom plate 13 by fasteners.

[0102] 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.

[0103] 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 agitating wheels 22 for collecting the mud from the gap between the two agitating wheels 22.

[0104] In some embodiments, the bottom wall of the collecting tank 340 includes a first bottom wall 3411 and a second bottom wall 3412, wherein 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 stirring wheels 22 to be 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 collecting tank 340 facing the two stirring wheels 22. Since the second bottom wall 3412 extends obliquely upward, when the mud flows toward the collecting tank 340, it can gradually enter the filter cavity through the filter hole 3410 during the flow process, reducing the resistance of the mud to continue to flow and avoiding the mud from flowing back as much as possible.

[0105] In some embodiments, the filter holes 3410 of the filter cover 34 are only provided on the bottom wall of the collecting tank 340 and the cover plate 341 around the collecting tank 340. That is, the connecting plate 342 of the filter cover 34 and the side wall of the collecting tank 340 are both closed, and no filter holes 3410 are provided. After the mud from the side of the agitator wheel 22 enters the filter cavity through the collecting tank 340, it will not flow outward through the connecting plate 342 of the filter cover 34 and the side wall of the collecting tank 340, thereby further ensuring that the mud entering the filter cavity can be sucked.

[0106] In some embodiments, the periphery of the first bottom wall 3411 includes a first straight line segment connected to the second bottom wall 3412 and an outwardly protruding arc segment connected to both ends of the first straight line segment. The design of the arc segment can smoothly hinder the flow of mud and avoid causing turbulence of the mud.

[0107] 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 collecting groove 340 is narrowed inward from the opening to produce the effect of gathering mud.

[0108] The width of the opening of the collecting tank 340 may be greater than the width of the liquid outlet 231 of the stirring device, so that as much mud as possible flowing out of the liquid outlet 231 can enter the collecting tank 340 .

[0109] See also Fig.13 and Fig.14 The suction device further includes: a spraying part 33, which is arranged in the filter cover 34 and is used to spray and remove dirt from the filter cover 34. The spraying part 33 is evenly distributed with spraying holes in the circumference, so that the filter cover 34 can be fully sprayed. Since the collection tank 340 is formed by indentation on the basis of the cover plate 341, the spraying part 33 can also directly rinse 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 spraying part 33 and is used to provide high-pressure water to the spraying part 33.

[0110] In some embodiments, the movable device further comprises a mechanical arm 40, which is disposed at the front end of the chassis body. A high-pressure water spray head and another suction port may be disposed at the front end of the mechanical arm 40. The mechanical arm 40 may be a multi-degree-of-freedom mechanical arm having multiple joints to adjust the position and angle of the high-pressure water spray head and another suction port. In some embodiments, the mechanical arm 40 may be retracted into the accommodation space of the chassis body through the cooperation between the joints.

[0111] 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.

[0112] 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 crawler, a movable device for cleaning radioactive waste liquid sediment, characterized in that: The crawler belt is composed of interconnected links, each of which comprises: a first chain ring, for engaging with the gear teeth of a driving wheel of the movable device; A second chain ring, configured to be sleeved with two adjacent first chain rings; and A walking plate, arranged on a side surface of the second chain ring away from the driving wheel, and used for contacting with a walking surface of the movable device; Each of the chain links further includes: a spacer plate extending from a side surface of the first chain ring facing away from the driving wheel in a direction away from the driving wheel, wherein the spacer plate is located between the second chain rings of two adjacent chain links and is used to prevent the two adjacent second chain rings from approaching each other; One end surface of the spacer plate facing the driving wheel is recessed in a direction away from the driving wheel to form a groove, so as to form an engagement groove with the first chain ring for engaging with the gear teeth of the driving wheel.

2. The crawler according to claim 1, characterized in that: Each of the chain links further comprises: a rubber layer, which is arranged on the outer surface of the walking board facing away from the second chain ring.

3. The crawler according to claim 2, characterized in that: When the first chain links in two adjacent chain links are in the same plane, the rubber layer between the spacer plates in the two chain links protrudes outwards from the spacer plates.

4. The crawler according to claim 1, characterized in that: When the first chain links in two adjacent chain links are in the same plane, the spacer plates in the two chain links and the walking plate between the two spacer plates are perpendicular to each other.

5. The crawler belt according to claim 1, characterized in that: The length of the walking plate is smaller than the length of the second chain ring, and the walking plate is welded to the middle part of the side surface of the second chain ring facing away from the driving wheel along the length direction.

6. The crawler belt according to claim 1, characterized in that: The spacer plate is welded to the middle portion of the surface of the first chain ring on one side facing away from the driving wheel along the length direction.

7. The crawler belt according to claim 1, characterized in that: The first chain ring has the same structure as the second chain ring.

8. A movable device for cleaning radioactive waste liquid sediments, characterized in that: include: A chassis body, the chassis body comprising a bottom plate and two side plates respectively located at opposite sides of the bottom plate; Two sets of walking devices are symmetrically arranged on the two side panels, and each set of the walking devices includes: at least one driving wheel disposed on the side plate; A plurality of load-bearing wheels are respectively arranged at the lower part of the side plates; A crawler track, sleeved outside the at least one driving wheel and the plurality of load-bearing wheels; A driving device, disposed on the base plate, for driving the driving wheels of the two sets of walking devices to rotate; and A stirring and suction device, disposed on the bottom plate, for stirring the radioactive waste liquid sediment to form a suspension and suctioning the suspension; Wherein, the crawler belt is composed of interconnected links, and each of the links comprises: a first chain ring, for engaging with the gear teeth of a driving wheel of the movable device; A second chain ring, configured to be sleeved with two adjacent first chain rings; and A walking plate, arranged on a side surface of the second chain ring away from the driving wheel, and used for contacting with a walking surface of the movable device; Each of the chain links further includes: a spacer plate extending from a side surface of the first chain ring facing away from the driving wheel in a direction away from the driving wheel, wherein the spacer plate is located between the second chain rings of two adjacent chain links and is used to prevent the two adjacent second chain rings from approaching each other; One end surface of the spacer plate facing the driving wheel is recessed in a direction away from the driving wheel to form a groove, so as to form an engagement groove with the first chain ring for engaging with the gear teeth of the driving wheel.

9. The movable device according to claim 8, characterized in that: Each of the chain links further comprises: a rubber layer, which is arranged on the outer surface of the walking board facing away from the second chain ring.

10. The movable device according to claim 9, characterized in that: When the first chain links in two adjacent chain links are in the same plane, the rubber layer between the spacer plates in the two chain links protrudes outwards from the spacer plates.

11. The movable device according to claim 8, characterized in that: When the first chain links in two adjacent chain links are in the same plane, the spacer plates in the two chain links and the walking plate between the two spacer plates are perpendicular to each other.

12. The movable device according to claim 8, characterized in that: The length of the walking plate is smaller than the length of the second chain ring, and the walking plate is welded to the middle part of the side surface of the second chain ring facing away from the driving wheel along the length direction.

13. The movable device according to claim 8, characterized in that: The spacer plate is welded to the middle portion of the surface of the first chain ring on one side facing away from the driving wheel along the length direction.

14. The movable device according to claim 8, characterized in that: The first chain ring has the same structure as the second chain ring.

Images