A large radioactive head laser decontamination device and decontamination method

Abstract

The large-scale radioactive head laser decontamination device provided by the present invention comprises: a crane, a support unit, rails, a rail car, a manipulator with a rotating base and a first and a second cantilever, a laser unit, a waste collection pipe, and a positioning unit. The rotating base is rotatably arranged in the middle of the rail car chassis, the first cantilever is rotatably connected to the rotating base, and the second cantilever is rotatably connected to the free end of the first cantilever; after the crane hoists the head to the support frame of the support unit, the rail car moves along the rails to the bottom of the head, the positioning unit locks the position of the rail car, so that the rotation axis of the rotating base coincides with the axis of the head, and then the laser unit is turned on, and the manipulator drives the laser unit to rotate, so that the laser emitted by the polarization component of the laser unit scans along the inner wall of the head to perform laser decontamination. The device has a fast decontamination speed, high efficiency, can operate automatically, and does not produce secondary pollutants. The decontamination method provided by the present invention has simple steps and good decontamination effect.

Description

Technical Field

[0001] The invention belongs to the technical field of laser decontamination, and in particular relates to a large-scale radioactive head laser decontamination device and a decontamination method. Background Art

[0002] In the field of nuclear power operation and decommissioning, it is necessary to carry out surface decontamination of large metal equipment, among which large pressure vessel heads are the main decontamination targets. This type of decontamination target has the characteristics of large size (such as pressure vessel heads, whose diameter reaches 4.7m), large radioactive dose (a large amount of corrosion products will accumulate on the inner surface of pressure vessel heads that have been in operation for a long time), and chemical decontamination is prone to produce secondary pollutants. These characteristics have always been a difficulty in this field.

[0003] In order to adapt to these characteristics of the decontamination object, there is an urgent need for a decontamination device and a decontamination method that has a fast decontamination speed, high decontamination efficiency, can operate automatically, and does not produce secondary pollutants. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention provides a large-scale radioactive head laser decontamination device, which has a fast decontamination speed, high efficiency, can operate automatically, and does not produce secondary pollutants. The present invention also provides a decontamination method suitable for the operation of the decontamination device.

[0005] In order to achieve the above-mentioned purpose, the product in the technical solution adopted by the present invention is a large-scale radioactive head laser decontamination device, comprising:

[0006] Crane used for lifting the end cap;

[0007] A support unit is provided under the traveling vehicle for supporting the end cap, the support unit comprises at least two door frame-shaped support frames extending vertically in the front-rear direction, the two support frames are spaced apart in the left-right direction, and when the end cap is placed on the support frames, the bottom of the end cap is 1 to 1.5 meters above the ground;

[0008] A rail laid on the ground in the left-right direction, the rail passing under the two support frames, and there are at least two rails arranged at intervals in the front-back direction;

[0009] A rail vehicle having a chassis and wheels, wherein the wheels are connected to the four corners of the chassis and are rotatably mounted on the rails;

[0010] A manipulator having a rotating base, a first cantilever and a second cantilever, wherein the rotating base is rotatably arranged in the middle of the chassis, one end of the first cantilever is rotatably connected to the rotating base, and the other end forms a first cantilever free end, one end of the second cantilever is rotatably connected to the first cantilever free end, and the other end forms a second cantilever free end, the rotation axis of the rotating base is perpendicular to the horizontal plane, and the rotation axis of the first cantilever and the second cantilever are parallel and parallel to the horizontal plane;

[0011] A laser unit having a laser generator and a polarization component, wherein the laser generator is arranged at the end portion of the second cantilever rotatably connected to the first cantilever, and the polarization component is arranged at the free end of the second cantilever. When the laser unit is started, the laser generated by the laser generator is directed toward the polarization component, and then directed toward the inner wall of the end cap after being changed by the polarization component.

[0012] A waste collection pipe is arranged on the chassis and located on one side of the rotating base, the waste collection pipe extends upward and is used to collect the debris and waste gas that fall after the laser irradiates the inner wall of the head;

[0013] A positioning unit disposed on the ground and below the end cap, the positioning unit being used to lock positioning columns connected to four corners of the bottom of the chassis;

[0014] After the traveling vehicle hoists the end cap onto the support frame, the rail car moves along the rails to the bottom of the end cap. Before the rail car moves, the first cantilever and the second cantilever rotate to a state where they are in contact with each other and the angle with the horizontal plane is ±3°. After the rail car moves to the bottom of the end cap, the positioning unit locks the positioning column so that the rotation axis of the rotating base coincides with the axis of the end cap. Then the laser unit is turned on, and the rotating base, the first cantilever and the second cantilever rotate, driving the laser unit to rotate, so that the laser emitted by the polarization component scans the inner wall of the end cap to perform laser decontamination.

[0015] Preferably, the second cantilever is tubular, the laser generator is movably disposed in the second cantilever, and the moving direction of the laser generator includes a first direction and a second direction perpendicular to each other, and the first direction and the second direction are both perpendicular to the axis of the second cantilever.

[0016] Further preferably, the outer wall of the second cantilever is also connected to a driving member for driving the laser generator to move along the first direction and the second direction.

[0017] Further preferably, the driving member includes a slide rail pair and a micrometer, the slider of the slide rail pair is connected to a seat plate of the laser generator extending out of the outer wall of the second cantilever, and the micrometer is used to push the slider to slide along the slide rail of the slide rail pair.

[0018] Preferably, the outer wall of the second cantilever is provided with ribs for increasing strength and heat dissipation performance, the ribs extend in a direction parallel to the axis of the second cantilever, and there are multiple ribs evenly distributed along the axis of the second cantilever.

[0019] Preferably, the polarization component includes a periscope-type first and second reflector groups, and a polarizer group, the first reflector group includes a reflector A, a reflector B and a first lens barrel arranged between the reflector A and the reflector B, the reflector A is connected to the free end of the second cantilever, the first lens barrel is axially rotatably connected to the free end of the second cantilever and extends in a direction perpendicular to the axis of the second cantilever; the second lens group includes a second lens barrel and a reflector C, the second lens barrel is connected to the end of the first lens barrel away from the second cantilever and is located between the reflector B and the reflector C, and the second lens barrel extends in a direction parallel to the axis of the second cantilever; the polarizer group includes rotatable and staggered first and second polarizers, and the polarizer group is used to guide the laser reflected by the reflector C to the inner wall of the head.

[0020] Further preferably, the polarization assembly further comprises a driving motor for driving the first lens barrel to rotate, the driving motor is connected to the free end of the second cantilever, and the driving motor drives the first lens barrel to rotate via gears and / or belt transmission.

[0021] Preferably, the positioning unit includes a left positioning piece for locking the positioning posts at the two left corners of the chassis and a right positioning piece for locking the positioning posts at the two right corners of the chassis, the left positioning piece includes a support plate extending vertically in the front-to-back direction, a support post connected to the left side of the support plate and extending to the left, a cylinder rod passing through the support plate and arranged parallel to the side of the support post close to the rotating base, a connecting rod and a clamping rod, one end of the clamping rod is rotatably connected to the end of the cylinder rod, the other end of the clamping rod is bent to the right to form a top column, one end of the connecting rod is rotatably connected to the end of the support post, and the other end of the connecting rod is rotatably connected to the middle part of the clamping rod, so that the cylinder rod, the clamping rod and the connecting rod form a crank slider mechanism. When the rod retracts to the right, the clamping rod rotates to the left to avoid the movement of the positioning column. When the cylinder rod extends to the left, the clamping rod rotates to the right to make the top column press against the left side of the positioning column. The right positioning member includes a fixed seat and a movable seat. The fixed seat is arranged between the two rails and is located to the right of the positioning column. The movable seat is arranged on a side of the fixed seat close to the rotating base. The movable seat can move in a direction close to or away from the fixed seat. The fixed seat is provided with a first groove matching the outer wall of the positioning column, and the movable seat is provided with a second groove matching the first groove. When the movable seat moves in a direction close to the positioning seat, the positioning column can be clamped by the cooperation of the first groove and the second groove, and the inner wall of the first groove is provided with a flexible buffer pad.

[0022] To achieve the above-mentioned purpose, the method in the technical solution adopted in the present invention is a large-scale radioactive head laser decontamination device, which is carried out by using any of the large-scale radioactive head laser decontamination devices described above. Before laser decontamination, the method divides the inner wall of the head into a spherical part, a rounded part and a cylindrical part which are connected in sequence from top to bottom. During laser decontamination, the first cantilever and the second cantilever rotate in coordination so that the laser emitted by the polarization component gradually moves upward from the cylindrical part. During the movement, the rotating base rotates alternately in a forward rotation and a reverse rotation so that the laser rotates and scans the inner wall of the head. The maximum rotation speed of the rotating base is 90° / s.

[0023] Preferably, during the rotation of the rotating base, the polarization component operates to cause the laser to swing within an angle of ±45°.

[0024] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0025] The large-scale radioactive head laser decontamination device provided by the present invention comprises: a traveling crane, a supporting unit, a rail, a rail car, a manipulator having a rotating base and a first and a second cantilever, a laser unit, a waste collection pipe, and a positioning unit. The rotating base is rotatably arranged in the middle of the rail car chassis, and its rotation axis is perpendicular to the horizontal plane. The first cantilever is rotatably connected to the rotating base, and the second cantilever is rotatably connected to the free end of the first cantilever. The rotation axis of the first and the second cantilever are parallel and parallel to the horizontal plane. The laser generator of the laser unit is arranged on the second cantilever rotatably connected to the first cantilever. At the end, the polarization component of the laser unit is arranged at the free end of the second cantilever; after the crane hoists the head to the support frame of the support unit, the rail car moves along the rail to the bottom of the head, and the positioning unit locks the position of the rail car so that the rotation axis center line of the rotating base coincides with the axis center line of the head, and then the laser unit is turned on, and the manipulator drives the laser unit to rotate, so that the laser emitted by the polarization component scans along the inner wall of the head to perform laser decontamination. The device has fast decontamination speed, high efficiency, automatic operation, and no secondary pollutants. The decontamination method provided by the present invention has simple steps and good decontamination effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a front view schematic diagram of a preferred embodiment of the present invention.

[0027] Figure 2 yes Figure 1 A three-dimensional schematic diagram of .

[0028] Figure 3 yes Figure 1 Schematic cross-sectional view along the AA direction.

[0029] Figure 4 yes Figure 1 A partial enlarged schematic diagram of the middle rail car.

[0030] Figure 5 , Figure 6 yes Figure 4 A three-dimensional schematic diagram of .

[0031] Figure 7 , Figure 8 yes Figure 4 A partial enlarged schematic diagram of the laser generator in the middle. For ease of observation, part of the structure of the second cantilever is hidden.

[0032] Fig. 9 , Fig.10 yes Figure 4 A local enlarged schematic diagram of the central polarization component.

[0033] Fig.11 yes Figure 4 A three-dimensional enlarged schematic diagram of the center left positioning piece.

[0034] Fig.12 yes Figure 4 A three-dimensional enlarged schematic diagram of the middle right positioning piece.

[0035] Among them: 10. Driving; 11. Cleaning room; 12. Chiller; 20. Support unit; 21. Support frame; 30. Rail; 40. Rail car; 41. Chassis; 411. Positioning column; 42. Wheel; 50. Manipulator; 51. Rotating base; 511. Fixed disk; 512. Rotating disk seat; 5121. First motor; 52. First cantilever; 521. Free end of first cantilever; 5211. Second motor; 53. Second cantilever; 531. Free end of second cantilever; 532. Rib; 54. Driving member; 541. Slide rail pair; 542. Spiral rangefinder; 61. Laser generator; 611. Seat plate; 62. Polarization assembly; 621. First reflector group; 6211. Reflector A; 6212 .Reflector B; 6213. First lens barrel; 622. Second reflector group; 6221. Second lens barrel; 6222. Reflector C; 623. Polarizer group; 6231. First polarizer; 6232. Second polarizer; 624. Field mirror; 625. Drive motor; 70. Waste collection tube; 81. Left positioning piece; 811. Support plate; 812. Support column; 813. Cylinder rod; 814. Connecting rod; 815. Pressing rod; 82. Right positioning piece; 821. Fixed seat; 8211. First groove; 8212. Flexible buffer pad; 822. Moving seat; 8221. Second groove; 823. Drive cylinder; 90. End cap; 91. Spherical part; 92. Fillet part; 93. Cylindrical part. DETAILED DESCRIPTION

[0036] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the 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.

[0037] In the description of the present invention, it should be noted that the terms "up", "down", "left", "right", "clockwise", "counterclockwise", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0038] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] like Figures 1 to 12As shown, the large-scale radioactive end cap laser decontamination device provided by the present invention comprises: a crane 10 for lifting the end cap 90, a support unit 20 arranged under the crane 10 for supporting the end cap 90, rails 30 laid on the ground along the left-right direction, a rail car 40 having a chassis 41 and wheels 42, a manipulator 50 having a rotating base 51 and a first cantilever 52 and a second cantilever 53, a laser unit having a laser generator 61 and a polarization component 62, a waste collection pipe 70, and a positioning unit, wherein the support unit 20 comprises two door frame-shaped support frames 21 extending vertically in the front-back direction, the two support frames 21 are spaced apart in the left-right direction, and when the end cap 90 is placed on the support frames 21, the bottom of the end cap 90 is at a height of 1.5 meters from the ground. The width is 1 meter to leave enough space for the rail car 40 to enter and exit; the rails 30 pass under the two support frames 21, and there are three rails 30 that are equidistantly spaced in the front-to-back direction; the chassis 41 of the rail car 40 is projected in a wide I-shape in the up-down direction, and the wheels 42 of the rail car 40 are connected to the four corners of the chassis 41 and rotatably mounted on the rails 30, and the chassis 41 is also provided with a motor and a gear pair for driving the wheel axle of the wheels 42 to rotate; the rotating base 51 of the manipulator 50 is rotatably arranged in the middle of the chassis 41, specifically, the rotating base 51 includes a fixed disk 511 and a rotating disk seat 512, the fixed disk 511 is fixedly connected to the middle of the chassis 41, and the rotating disk seat 512 is rotatably connected to the fixed disk 511. At the top, the rotation axis of the rotating disk seat 512 is perpendicular to the horizontal plane and passes through the geometric center of the chassis 41. The chassis 41 is also provided with a motor and an angular reducer for driving the rotating disk seat 512 to rotate. One end of the first cantilever 52 is rotatably connected to the rotating disk seat 512, and the other end forms a first cantilever free end 521. One end of the second cantilever 53 is rotatably connected to the first cantilever free end 521, and the other end forms a second cantilever free end 531. The rotation axis of the first cantilever 52 and the second cantilever 53 are parallel and parallel to the horizontal plane. In order to facilitate driving the first cantilever 52 and the second cantilever 53 to rotate, the rotating disk seat 512 is connected to a first motor 5121 for driving the first cantilever 52 to rotate. The end 521 is connected to a second motor 5211 for driving the second cantilever 53 to rotate; the laser generator 61 of the laser unit is arranged at the end of the second cantilever 53 and the first cantilever 52 where they are rotatably connected, and the polarization component 62 of the laser unit is arranged on the free end 531 of the second cantilever. When the laser unit is started, the laser generated by the laser generator 61 is directed toward the polarization component 62, and after the polarization component 62 changes direction, the laser is directed toward the inner wall of the end cap 90 in a direction perpendicular to the inner wall of the end cap 90; the waste collection pipe 70 is arranged on the chassis 41 and is located on one side of the rotating base 51. The waste collection pipe 70 is a hard pipe with self-supporting ability. The waste collection pipe 70 extends upward to collect the debris and waste gas that fall after the laser irradiates the inner wall of the end cap 90;The positioning unit is set on the ground and located below the end cap 90. The positioning unit is used to lock the positioning columns 411 connected to the four corners of the bottom of the chassis 41 and extending vertically downward; after the driving vehicle 10 hoists the end cap 90 onto the support frame 21, the rail car 40 moves along the rail 30 to the bottom of the end cap 90. Before the rail car 40 moves, the first cantilever 52 and the second cantilever 53 rotate to a state where they fit each other and the angle with the horizontal plane is ±3°, so as to enter from the 1-meter-high space between the bottom of the end cap 90 and the ground. After the rail car 40 moves to the bottom of the end cap 90, the positioning unit locks the positioning column 411 so that the rotation axis of the rotating disc seat 512 coincides with the axis of the end cap 90, and then the laser unit is turned on, the rotating disc seat 512, the first cantilever 52 and the second cantilever 53 rotate, driving the laser unit to rotate, so that the laser emitted by the polarization component 62 scans the inner wall of the end cap 90 to perform laser decontamination. ;

[0040] The advantages of this setting are:

[0041] 1. The laser unit can be transported to the bottom of the end cap by the movement of the rail car and the action of the positioning unit, and then the laser unit can be driven to rotate by the rotation of the rotating disc seat and the first and second cantilevers, so that the laser emitted by the polarization component can scan the inner wall of the end cap to realize automatic decontamination operation.

[0042] 2. Due to the presence of the positioning unit, the rail vehicle can be quickly moved into position. After moving into position, the position of the chassis can be fixed. When the rotating disc seat and the first and second cantilevers rotate rapidly, they withstand a large moment of inertia, ensuring that the rotation axis of the rotating disc seat and the axis of the head remain coincident, resulting in fast decontamination speed, high decontamination efficiency and good decontamination effect.

[0043] 3. Decontamination is performed through laser scanning, and the fallen debris and waste gas are collected through a waste collection pipe, which basically does not produce secondary pollutants and can avoid secondary pollution.

[0044] In this embodiment, the second cantilever 53 is tubular, and the laser generator 61 is movably arranged in the second cantilever 53. The moving direction of the laser generator 61 includes a first direction and a second direction perpendicular to each other, and the first direction and the second direction are both perpendicular to the axis of the second cantilever 53. Specifically, the outer wall of the second cantilever 53 is also connected to a driving member 54 for driving the laser generator 61 to move along the first direction and the second direction. The driving member 54 includes a slide rail pair 541 and a micrometer screw 542. The slide rail pair 541 and the micrometer screw 542 each have two groups, corresponding to the movement of the laser generator 61 in the first direction and the second direction, respectively. One group of sliders of the slide rail pair 541 is connected to the seat plate 611 of the laser generator 61 extending out of the outer wall of the second cantilever 53, and the micrometer screw 542 is used to push the slider to slide along the slide rail of the slide rail pair 541.

[0045] The advantage of this arrangement is that the position where the laser is emitted can be easily adjusted.

[0046] To increase strength and improve heat dissipation performance, in this embodiment, the second cantilever 53 is an aluminum tube, and its outer wall is provided with ribs 532 extending in a direction parallel to the axis of the second cantilever 53 . There are four ribs 532 and they are evenly distributed along the axis of the second cantilever 53 .

[0047] In this embodiment, the polarization assembly 62 includes a periscope-type first and second reflector groups, and a polarization lens group 623. The first reflector group 621 includes a reflector A6211, a reflector B6212, and a first lens barrel 6213 disposed between the reflector A6211 and the reflector B6212. The reflector A6211 is connected to the second cantilever free end 531. The first lens barrel 6213 is axially rotatably connected to the second cantilever free end 531 and extends in a direction perpendicular to the axis of the second cantilever 53. The second lens group 622 includes a second lens barrel 6221 and a reflector C6222. The second lens barrel 6221 is connected to the end of the first lens barrel 6213 away from the second cantilever 53 and is located between the reflector B6212 and the reflector C6222. The second lens barrel 6221 extends in a direction parallel to the axis of the second cantilever 53. The polarizing lens group 623 includes a rotatable and staggered first polarizer 6231 and a second polarizer 6232. The polarizing lens group 623 is used to guide the laser reflected by the reflector C6222 to the inner wall of the head 90.

[0048] The advantage of this arrangement is that the position error caused by the rapid rotation of the rotating disc seat and the first and second cantilevers can be compensated through the action of the first lens barrel and the polarizing lens group, and the range of laser scanning can be expanded to improve the decontamination efficiency and ensure the decontamination effect.

[0049] Of course, the polarization component 62 also includes a field lens 624 arranged at the polarization lens group 623. The field lens 624 is used to prevent debris and exhaust gas from entering the laser light path in reverse. The field lens 624 is also used to adjust the laser focal length. The adjustment action of the field lens 624 can be achieved through existing technology and will not be repeated here.

[0050] To realize automatic operation, the polarization assembly 623 further includes a driving motor 625 for driving the first lens barrel 6213 to rotate. The driving motor 625 is connected to the second cantilever free end 531, and the driving motor 625 drives the first lens barrel 6213 to rotate through gears and / or belt transmission.

[0051] In this embodiment, the positioning unit includes a left positioning member 81 for locking the positioning columns 411 at the two left corners of the chassis 41 and a right positioning member 82 for locking the positioning columns 411 at the two right corners of the chassis 41. The left positioning member 81 includes a support plate 811 extending vertically in the front-to-back direction, a support column 812 connected to the left side of the support plate 811 and extending to the left, a cylinder rod 813 passing through the support plate 811 and arranged parallel to the support column 812 on the side close to the rotating base 51, a connecting rod 814 and a pressing rod 815, one end of the pressing rod 815 is connected to the cylinder rod 813. The end of the cylinder rod 813 is rotatably connected, the other end of the clamping rod 815 is bent to the right to form a top column, one end of the connecting rod 814 is rotatably connected to the end of the support column 812, and the other end of the connecting rod 814 is rotatably connected to the middle part of the clamping rod 815, so that the cylinder rod 813, the clamping rod 815, and the connecting rod 814 form a crank slider mechanism. When the cylinder rod 813 retracts to the right, the clamping rod 815 rotates to the left to avoid the movement of the positioning column 411. When the cylinder rod 813 extends to the left, the clamping rod 815 rotates to the right to make the top column press against the left side of the positioning column 411. The cylinder rod 813 is a pneumatic The cylinder rod of the cylinder, that is, the left positioning member 81 also includes a cylinder; the right positioning member 82 includes a fixed seat 821 and a movable seat 822, the fixed seat 821 is arranged between the two rails 30 and is located on the right side of the positioning column 411, and the movable seat 822 is arranged on the side of the fixed seat 821 close to the rotating base 51, and the movable seat 822 can move in a direction close to or away from the fixed seat 821, and the fixed seat 821 is provided with a first groove 8211 matching the outer wall of the positioning column 411, and the movable seat 822 is provided with a second groove 8221 matching the first groove 8211, and the movable seat 822 is provided with a second groove 8221 matching the first groove 8211. When 822 moves toward the direction approaching the positioning seat 821, the positioning column 411 can be clamped through the cooperation of the first groove 8211 and the second groove 8221, so that the position of the positioning column 411 and the rail car 40 is fixed. Specifically, the cross-section of the positioning column 411 is rectangular, and the cross-sections of the first groove 8211 and the second groove 8221 are both L-shaped. The movement of the movable seat 822 can be achieved through the existing technology. Specifically in this embodiment, the right positioning member 82 also includes a driving cylinder 823 for driving the movable seat 822 to move, and the inner wall of the first groove 8211 is provided with a flexible buffer pad 8212.

[0052] Of course, in order to cooperate with the cleaning rail car 40, the large-scale radioactive head laser decontamination device also includes a cleaning room 11, and in order to cooperate with the cooling of the laser generator 61, the large-scale radioactive head laser decontamination device also includes a chiller 12.

[0053] The decontamination method provided by the present invention is carried out using the above-mentioned large-scale radioactive head laser decontamination device. Before laser decontamination, the method divides the inner wall of the head 90 into a spherical part 91, a rounded part 92 and a cylindrical part 93 which are connected in sequence from top to bottom. During laser decontamination, the first cantilever 52 and the second cantilever 53 cooperate to rotate so that the laser emitted by the polarization component 62 gradually moves upward from the cylindrical part 93. During the movement, the rotating base 51 rotates alternately in a forward rotation and a reverse rotation so that the laser rotates and scans the inner wall of the head 90. To ensure the decontamination efficiency, the maximum rotation speed of the rotating base 51 is 90° / s. Furthermore, during the rotation of the rotating base 51, the polarization component 62 is actuated so that the laser can swing within an angle of ±45° to ensure that the laser can be perpendicular to the inner wall surface of the head 90 during decontamination.

[0054] The advantage of this setting is that it enables the robot to perform intensive decontamination according to the preset optimal path, with a decontamination efficiency of up to 2.0m 2 / h.

[0055] In this embodiment, the bottom area of ​​the end cap 90 is about 23.4 m2, and the cleaning time is about 11 hours.

[0056] In this embodiment, in order to meet the automatic cleaning function, the large-scale radioactive head laser decontamination device adopts a 500W laser. The laser parameters and servo movement are uniformly controlled through the human-machine interface, and a quick start button is provided. During the operation, the switchable door panels have an interlock function to prevent accidental opening during the operation.

[0057] In this embodiment, the length of the rail 30 exceeds 6 meters, the travel of the rail car 40 is 6 meters, the maximum load of the chassis 41 of the rail car 40 is 300KG, so as to support the robot 50 and the laser unit, and the maximum moving speed of the rail car 40 is 0.5 m / s to ensure the decontamination efficiency.

[0058] In this embodiment, the rotating disc base 512 can rotate 360°, the first cantilever 52 can rotate 180°, the second cantilever 53 can rotate 180°, the cables of the laser unit and the drive motor are wired inside the cantilever, and the cables on the rail car 40 are routed through the tank chain.

[0059] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A large radioactive head laser decontamination device, characterized in that: include: Crane used for lifting the end cap; A support unit is provided under the traveling vehicle for supporting the end cap, the support unit comprises at least two door frame-shaped support frames extending vertically in the front-rear direction, the two support frames are spaced apart in the left-right direction, and when the end cap is placed on the support frames, the bottom of the end cap is 1 to 1.5 meters above the ground; A rail laid on the ground in the left-right direction, the rail passing under the two support frames, and there are at least two rails arranged at intervals in the front-back direction; A rail vehicle having a chassis and wheels, wherein the wheels are connected to the four corners of the chassis and are rotatably mounted on the rails; A manipulator having a rotating base, a first cantilever and a second cantilever, wherein the rotating base is rotatably arranged in the middle of the chassis, one end of the first cantilever is rotatably connected to the rotating base, and the other end forms a first cantilever free end, one end of the second cantilever is rotatably connected to the first cantilever free end, and the other end forms a second cantilever free end, the rotation axis of the rotating base is perpendicular to the horizontal plane, and the rotation axis of the first cantilever and the second cantilever are parallel and parallel to the horizontal plane; A laser unit having a laser generator and a polarization component, wherein the laser generator is arranged at the end portion of the second cantilever rotatably connected to the first cantilever, and the polarization component is arranged at the free end of the second cantilever. When the laser unit is started, the laser generated by the laser generator is directed toward the polarization component, and then directed toward the inner wall of the end cap after being changed by the polarization component. A waste collection pipe is arranged on the chassis and located on one side of the rotating base, the waste collection pipe extends upward and is used to collect the debris and waste gas that fall after the laser irradiates the inner wall of the head; A positioning unit disposed on the ground, the positioning unit being used to lock positioning columns connected to four corners of the bottom of the chassis; After the traveling vehicle hoists the end cap onto the support frame, the rail car moves along the rails to the bottom of the end cap. Before the rail car moves, the first cantilever and the second cantilever rotate to a state where they are in contact with each other and the angle with the horizontal plane is ±3°. After the rail car moves to the bottom of the end cap, the positioning unit locks the positioning column so that the rotation axis of the rotating base coincides with the axis of the end cap. Then the laser unit is turned on, and the rotating base, the first cantilever and the second cantilever rotate, driving the laser unit to rotate, so that the laser emitted by the polarization component scans the inner wall of the end cap to perform laser decontamination.

2. The large-scale radioactive end cap laser decontamination device according to claim 1 is characterized in that: The second cantilever is tubular, the laser generator is movably disposed in the second cantilever, and the moving direction of the laser generator includes a first direction and a second direction perpendicular to each other, and the first direction and the second direction are both perpendicular to the axis of the second cantilever.

3. The large-scale radioactive end cap laser decontamination device according to claim 2 is characterized in that: The outer wall of the second cantilever is also connected with a driving member for driving the laser generator to move along the first direction and the second direction.

4. The large-scale radioactive end cap laser decontamination device according to claim 3 is characterized in that: The driving member includes a slide rail pair and a micrometer screw. The slider of the slide rail pair is connected to the seat plate of the laser generator extending out of the outer wall of the second cantilever. The micrometer screw is used to push the slider to slide along the slide rail of the slide rail pair.

5. The large-scale radioactive end cap laser decontamination device according to claim 1 is characterized in that: The outer wall of the second cantilever is provided with ribs for increasing strength and heat dissipation performance. The ribs extend in a direction parallel to the axis of the second cantilever. There are multiple ribs that are evenly distributed along the axis of the second cantilever.

6. The large-scale radioactive end cap laser decontamination device according to claim 1 is characterized in that: The polarization component includes a periscope-type first and second reflector groups, and a polarization lens group, the first reflector group includes a reflector A, a reflector B and a first lens barrel arranged between the reflector A and the reflector B, the reflector A is connected to the free end of the second cantilever, the first lens barrel is axially rotatably connected to the free end of the second cantilever and extends in a direction perpendicular to the axis of the second cantilever; the second lens group includes a second lens barrel and a reflector C, the second lens barrel is connected to the end of the first lens barrel away from the second cantilever and is located between the reflector B and the reflector C, and the second lens barrel extends in a direction parallel to the axis of the second cantilever; the polarization lens group includes rotatable and staggered first and second polarizers, and the polarization lens group is used to guide the laser reflected by the reflector C to the inner wall of the head.

7. The large-scale radioactive end cap laser decontamination device according to claim 6 is characterized in that: The polarization assembly further comprises a driving motor for driving the first lens barrel to rotate. The driving motor is connected to the free end of the second cantilever. The driving motor drives the first lens barrel to rotate via gears and / or belt transmission.

8. The large-scale radioactive end cap laser decontamination device according to claim 1 is characterized in that: The positioning unit includes a left positioning piece for locking the positioning posts at the two left corners of the chassis and a right positioning piece for locking the positioning posts at the two right corners of the chassis, the left positioning piece includes a support plate extending vertically in the front-to-back direction, a support post connected to the left side of the support plate and extending to the left, a cylinder rod penetrating the support plate and arranged parallel to the support post on the side of the support post close to the rotating base, a connecting rod and a clamping rod, one end of the clamping rod is rotatably connected to the end of the cylinder rod, the other end of the clamping rod is bent to the right to form a top column, one end of the connecting rod is rotatably connected to the end of the support post, and the other end of the connecting rod is rotatably connected to the middle part of the clamping rod, so that the cylinder rod, the clamping rod, and the connecting rod form a crank slider mechanism, when the cylinder rod is moved When the right is retracted, the clamping rod rotates to the left to avoid the movement of the positioning column. When the cylinder rod extends to the left, the clamping rod rotates to the right to make the top column press against the left side of the positioning column. The right positioning member includes a fixed seat and a movable seat. The fixed seat is arranged between the two rails and is located on the right side of the positioning column. The movable seat is arranged on the side of the fixed seat close to the rotating base. The movable seat can move in the direction close to or away from the fixed seat. The fixed seat is provided with a first groove matching the outer wall of the positioning column, and the movable seat is provided with a second groove matching the first groove. When the movable seat moves in the direction close to the positioning seat, the positioning column can be clamped by the cooperation of the first groove and the second groove, and the inner wall of the first groove is provided with a flexible buffer pad.

9. A method for decontaminating a large radioactive end cap, using the large radioactive end cap laser decontamination device according to any one of claims 1 to 8, characterized in that: Before laser decontamination, the method divides the inner wall of the head into a spherical part, a rounded corner part and a cylindrical part which are connected in sequence from top to bottom. During laser decontamination, the first cantilever and the second cantilever rotate in coordination so that the laser emitted by the polarization component gradually moves upward from the cylindrical part. During the movement, the rotating base rotates alternately in a forward rotation and a reverse rotation so that the laser rotates and scans the inner wall of the head. The maximum rotation speed of the rotating base is 90° / s.

10. The decontamination method for a large radioactive head according to claim 9, characterized in that: During the rotation of the rotating base, the polarization component operates to make the laser swing within an angle of ±45°.

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